Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 56 * 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 56 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 166.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 166.0 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 23 VBD_MIN 500

DIVE 56 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 130817,043602,7155.7998,-14739.6650,15,0.8,31,21.4,0.3,322.5,11,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 315.0,157785,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 130817,045325,7155.8618,-14739.7266,5,0.8,11,21.4,0.0,288.6,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813041417.194725,3,12327,40,1917,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C PM_FREEKB_00 58870848

FINISH 0.6,1.019956 _24V_AH 12.64,69.246

SM_CCo 9188,11.43,0.220,0,0,498,702.78 _10V_AH 12.56,0.000

SM_GC 2.18,8.32,2.75,11.43,0.076,0.086,0.220,204,2209,498,-7.37,-0.37,702.78,0,0,0,0,0,0,14.17,14.08,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

MODEM 2,1502597657,73.18300,-149.96500,110.195,159908.1 MEM 323868

RAFOS_FIX 7202.124023,-14620.304688,130817,000019,2,255,11.06 DATA_FILE_SIZE 23442,702

IRIDIUM_FIX 7156.25,-14741.30,130817,044438 CAP_FILE_SIZE 101733,0

TT8_MAMPS 0.040446,0.850864 CFSIZE 2097872896,2071298048

HUMID 49.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1450.2

TCM_TEMP 13.60 CURRENT 0.099,298.93,1

XPDR_PINGS 21 GPS 130817,072826,7157.260,-14742.049,18,0.8,22,21.4,0.4,111.7,10,8.2

CP_FREE 16009822208.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 143.26 nil 0 0 0.00

Roll_motor 79 2132 2141.11 nil 0 0 0.00

VBD_pump_during_apogee 893 1516 17137.49 nil 0 0 0.00

VBD_pump_during_surface 11 219 31.71 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 8995 14 1650.42

Iridium_during_xfer 652 174 1438.27 NCP 9182 20 2321.21

Transponder_ping 5 420 27.87 PMAR 9141 16 1911.07

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.55

TT8 0 0 0.00

LPSleep 6857 2 198.96

TT8_Active 797 13 139.99

TT8_Sampling 2320 33 974.69

TT8_CF8 281 38 136.93

TT8_Kalman 0 0 0.00

Analog_circuits 2259 10 283.80

GPS_charging 0 0 0.00

Compass 1010 7 88.88

RAFOS 0 0 0.00

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 184 2218 513 476 0.0 0.0 0 129 0.00 0.00 -81.43 0.000 16386 0.000 0.000 182 2218 2196 2123 2270 0 0 0 0 0 0 14.19 28.83 14.21

132 -0.57 -145.9 183 2218 2128 2270 3.8 -5.2 8 185 12.68 2.72 -30.80 0.000 18724 0.455 2.132 2379 3598 3962 3947 3977 1 0 0 0 0 0 13.50 12.68 14.07

410 -0.57 -145.9 2375 3599 3962 3978 68.6 -16.4 63 415 0.00 2.40 0.00 0.000 1030 0.000 0.054 2375 2198 3968 3961 3976 0 0 0 0 0 0 14.09 13.97 14.09

718 -0.57 -145.9 2375 2197 3964 3979 118.3 -15.0 86 722 0.00 2.47 0.00 0.000 260 0.000 0.082 2365 3601 3970 3963 3978 0 0 0 0 0 0 14.41 14.09 14.42

788 -0.66 -145.9 2366 3603 3964 3977 127.6 -11.5 100 792 0.00 2.40 0.00 0.000 1158 0.000 0.055 2365 2190 3970 3963 3977 0 0 0 0 0 0 14.26 14.15 14.28

1108 -0.72 -145.9 2365 2189 3965 3977 161.8 -10.2 114 1112 0.00 2.47 0.00 0.000 388 0.000 0.086 2362 3595 3970 3962 3978 0 0 0 0 0 0 14.49 14.12 14.50

1188 -0.87 -145.9 2363 3597 3964 3979 169.5 -9.1 130 1193 0.20 2.35 0.00 0.000 5286 0.102 0.053 2281 2196 3970 3963 3977 0 0 0 0 0 0 14.24 14.21 14.31

1498 -0.80 -145.9 2282 2195 3964 3977 218.6 -15.3 142 1504 0.12 2.47 0.00 0.000 2436 0.282 0.082 2306 3604 3969 3963 3976 0 0 0 0 0 0 13.91 14.12 14.08

1579 -0.86 -145.9 2307 3607 3963 3977 228.7 -11.6 158 1584 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2202 3969 3962 3976 0 0 0 0 0 0 14.26 14.18 14.31

1889 -0.86 -145.9 2306 2201 3964 3974 265.8 -12.1 170 1894 0.00 2.45 0.00 0.000 260 0.000 0.086 2302 3601 3967 3962 3973 0 0 0 0 0 0 14.52 14.18 14.53

1924 -0.90 -145.9 2304 3603 3963 3973 270.0 -12.1 177 1929 0.00 2.38 0.00 0.000 1158 0.000 0.058 2302 2201 3968 3962 3974 0 0 0 0 0 0 14.29 14.18 14.31

2249 -0.90 -145.9 2303 2201 3961 3971 308.2 -11.7 192 2254 0.00 2.42 0.00 0.000 260 0.000 0.085 2294 3597 3966 3961 3971 0 0 0 0 0 0 14.52 14.18 14.54

2299 -0.95 -145.9 2294 3599 3961 3972 314.1 -11.6 202 2304 0.00 2.38 0.00 0.000 1158 0.000 0.058 2294 2201 3965 3960 3971 0 0 0 0 0 0 14.29 14.18 14.32

2609 -0.95 -145.9 2294 2200 3961 3970 351.7 -12.2 214 2614 0.00 2.45 0.00 0.000 260 0.000 0.085 2286 3601 3965 3960 3970 0 0 0 0 0 0 14.53 14.19 14.55

2669 -0.99 -145.9 2286 3601 3960 3970 359.1 -12.2 226 2674 0.00 2.38 0.00 0.000 1158 0.000 0.060 2286 2197 3964 3958 3970 0 0 0 0 0 0 14.33 14.22 14.35

2999 -0.99 -145.9 2286 2197 3960 3970 401.4 -12.8 242 3004 0.00 2.45 0.00 0.000 260 0.000 0.085 2280 3598 3963 3959 3968 0 0 0 0 0 0 14.53 14.18 14.55

3084 -1.01 -145.9 2281 3599 3959 3968 412.1 -12.2 259 3091 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2198 3963 3958 3968 0 0 0 0 0 0 14.30 14.18 14.33

3389 -0.99 -145.9 2280 2197 3958 3968 451.1 -12.8 270 3394 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3604 3962 3958 3967 0 0 0 0 0 0 14.53 14.17 14.54

3459 -1.03 -145.9 2279 3605 3957 3968 459.8 -11.9 284 3464 0.00 2.40 0.00 0.000 1158 0.000 0.058 2282 2193 3961 3956 3967 0 0 0 0 0 0 14.33 14.21 14.34

3627 end dive: TARGET_DEPTH_EXCEEDED

state 3627 begin apogee

3633 -0.13 0.0 2279 2066 3957 3967 480.9 -12.4 293 3890 0.98 0.00 253.75 1.337 10246 0.246 0.000 2527 2065 3366 3395 3337 0 0 0 0 0 0 13.95 13.47 12.88

3893 end apogee: CONTROL_FINISHED_OK

state 3893 begin climb

3896 0.57 145.9 2528 2065 3391 3330 492.3 0.0 301 4103 0.75 2.72 198.20 1.354 10500 0.065 0.074 2782 3497 2760 2812 2708 0 0 0 0 0 0 13.54 13.13 12.64

4334 0.16 145.9 2781 3498 2782 2704 450.1 18.8 347 4339 0.75 2.40 0.00 0.000 5254 0.345 0.057 2638 2122 2742 2781 2703 0 0 0 0 0 0 13.49 13.78 13.82

4645 0.09 161.8 2638 2121 2782 2700 419.5 9.3 359 4664 0.00 2.50 12.07 1.517 8612 0.000 0.080 2637 3497 2701 2743 2659 0 0 0 0 0 0 14.30 14.00 13.24

4724 -0.00 161.8 2638 3497 2737 2652 411.2 10.8 375 4730 0.28 2.42 0.00 0.000 5254 0.253 0.057 2583 2091 2695 2736 2654 0 0 0 0 0 0 13.82 14.03 14.07

5035 0.11 243.5 2584 2091 2736 2651 390.9 6.2 387 5177 0.12 2.60 131.57 1.291 10916 0.139 0.086 2646 695 2364 2418 2310 0 0 0 0 0 0 14.17 13.64 13.08

5202 0.16 243.5 2646 695 2406 2306 375.2 10.0 420 5208 0.00 2.53 0.00 0.000 1158 0.000 0.078 2645 2087 2354 2405 2304 0 0 0 0 0 0 13.84 13.75 13.86

5518 0.16 243.5 2646 2089 2404 2294 342.7 10.4 433 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2088 2348 2403 2293 0 0 0 0 0 0 14.30 14.32 14.32

5818 0.16 243.5 2647 2088 2403 2291 310.9 10.6 443 5819 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2088 2346 2401 2291 0 0 0 0 0 0 14.43 14.45 14.45

6118 0.16 244.4 2646 2089 2401 2290 280.8 10.0 453 6119 0.00 0.00 0.00 0.000 38 0.000 0.000 2650 2088 2345 2400 2290 0 0 0 0 0 0 14.49 14.51 14.51

6418 0.16 255.4 2646 2088 2399 2289 251.6 9.5 463 6422 0.00 0.00 2.88 0.929 8230 0.000 0.000 2646 2088 2323 2378 2269 0 0 0 0 0 0 14.52 14.22 13.10

6718 0.17 267.9 2646 2088 2391 2283 223.3 9.4 473 6754 0.00 2.50 29.25 1.327 8740 0.000 0.084 2646 693 2268 2321 2215 0 0 0 0 0 0 14.52 14.09 13.46

6789 0.27 291.5 2647 694 2315 2212 216.7 8.9 487 6834 0.00 2.47 36.88 1.316 9382 0.000 0.079 2646 2110 2172 2225 2119 0 0 0 0 0 0 14.20 14.09 13.30

7141 0.35 315.8 2646 2112 2218 2106 185.0 8.9 507 7179 0.15 0.00 35.97 1.327 10406 0.119 0.000 2705 2111 2078 2131 2026 0 0 0 0 0 0 14.17 13.98 13.33

7469 0.31 315.8 2705 2112 2119 2013 146.4 11.3 518 7470 0.00 0.00 0.00 0.000 134 0.000 0.000 2705 2111 2065 2118 2012 0 0 0 0 0 0 14.38 14.40 14.40

7769 0.33 333.5 2705 2110 2118 2009 116.4 9.2 528 7791 0.00 0.00 20.42 1.375 8230 0.000 0.000 2704 2111 2006 2058 1955 0 0 0 0 0 0 14.45 14.09 13.43

8070 0.40 392.1 2710 2110 2051 1944 92.6 7.3 544 8106 0.00 2.55 28.85 0.490 8868 0.000 0.083 2709 692 1767 1805 1729 0 0 0 0 0 0 14.40 14.07 13.67

8227 0.59 456.1 2708 693 1802 1730 81.6 7.0 575 8265 0.20 2.50 32.42 0.449 11430 0.101 0.079 2783 2101 1504 1551 1457 0 0 0 0 0 0 14.05 13.98 13.71

8562 0.60 474.8 2785 2101 1551 1444 44.6 9.1 612 8578 0.00 2.55 9.07 0.341 8740 0.000 0.085 2790 691 1427 1484 1371 0 0 0 0 0 0 14.38 14.05 13.80

8660 0.73 512.3 2791 691 1485 1372 36.4 8.3 631 8687 0.00 2.47 19.58 0.314 9382 0.000 0.079 2791 2097 1274 1335 1213 0 0 0 0 0 0 14.20 14.09 13.79

8983 1.02 679.7 2791 2100 1338 1205 13.8 2.3 666 9073 0.35 2.50 82.82 0.252 10916 0.086 0.086 2920 693 595 650 540 0 0 0 0 0 0 14.14 13.95 13.81

9155 end climb: SURFACE_DEPTH_REACHED

state 9155 begin surface coast

9166 end surface coast: CONTROL_FINISHED_OK

state 9166 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	56	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	166.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,043602,7155.7998,-14739.6650,15,0.8,31,21.4,0.3,322.5,11,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	315.0,157785,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	130817,045325,7155.8618,-14739.7266,5,0.8,11,21.4,0.0,288.6,10,9.9

MODEM_MSG	CACST,6,1,20170813041417.194725,3,12327,40,1917,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C	PM_FREEKB_00	58870848
FINISH	0.6,1.019956	_24V_AH	12.64,69.246
SM_CCo	9188,11.43,0.220,0,0,498,702.78	_10V_AH	12.56,0.000
SM_GC	2.18,8.32,2.75,11.43,0.076,0.086,0.220,204,2209,498,-7.37,-0.37,702.78,0,0,0,0,0,0,14.17,14.08,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
MODEM	2,1502597657,73.18300,-149.96500,110.195,159908.1	MEM	323868
RAFOS_FIX	7202.124023,-14620.304688,130817,000019,2,255,11.06	DATA_FILE_SIZE	23442,702
IRIDIUM_FIX	7156.25,-14741.30,130817,044438	CAP_FILE_SIZE	101733,0
TT8_MAMPS	0.040446,0.850864	CFSIZE	2097872896,2071298048
HUMID	49.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1450.2
TCM_TEMP	13.60	CURRENT	0.099,298.93,1
XPDR_PINGS	21	GPS	130817,072826,7157.260,-14742.049,18,0.8,22,21.4,0.4,111.7,10,8.2
CP_FREE	16009822208.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	143.26	nil	0	0	0.00
Roll_motor	79	2132	2141.11	nil	0	0	0.00
VBD_pump_during_apogee	893	1516	17137.49	nil	0	0	0.00
VBD_pump_during_surface	11	219	31.71	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	8995	14	1650.42
Iridium_during_xfer	652	174	1438.27	NCP	9182	20	2321.21
Transponder_ping	5	420	27.87	PMAR	9141	16	1911.07
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.55
TT8	0	0	0.00
LPSleep	6857	2	198.96
TT8_Active	797	13	139.99
TT8_Sampling	2320	33	974.69
TT8_CF8	281	38	136.93
TT8_Kalman	0	0	0.00
Analog_circuits	2259	10	283.80
GPS_charging	0	0	0.00
Compass	1010	7	88.88
RAFOS	0	0	0.00
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	184	2218	513	476	0.0	0.0	0	129	0.00	0.00	-81.43	0.000	16386	0.000	0.000	182	2218	2196	2123	2270	0	0	0	0	0	0	14.19	28.83	14.21
132	-0.57	-145.9	183	2218	2128	2270	3.8	-5.2	8	185	12.68	2.72	-30.80	0.000	18724	0.455	2.132	2379	3598	3962	3947	3977	1	0	0	0	0	0	13.50	12.68	14.07
410	-0.57	-145.9	2375	3599	3962	3978	68.6	-16.4	63	415	0.00	2.40	0.00	0.000	1030	0.000	0.054	2375	2198	3968	3961	3976	0	0	0	0	0	0	14.09	13.97	14.09
718	-0.57	-145.9	2375	2197	3964	3979	118.3	-15.0	86	722	0.00	2.47	0.00	0.000	260	0.000	0.082	2365	3601	3970	3963	3978	0	0	0	0	0	0	14.41	14.09	14.42
788	-0.66	-145.9	2366	3603	3964	3977	127.6	-11.5	100	792	0.00	2.40	0.00	0.000	1158	0.000	0.055	2365	2190	3970	3963	3977	0	0	0	0	0	0	14.26	14.15	14.28
1108	-0.72	-145.9	2365	2189	3965	3977	161.8	-10.2	114	1112	0.00	2.47	0.00	0.000	388	0.000	0.086	2362	3595	3970	3962	3978	0	0	0	0	0	0	14.49	14.12	14.50
1188	-0.87	-145.9	2363	3597	3964	3979	169.5	-9.1	130	1193	0.20	2.35	0.00	0.000	5286	0.102	0.053	2281	2196	3970	3963	3977	0	0	0	0	0	0	14.24	14.21	14.31
1498	-0.80	-145.9	2282	2195	3964	3977	218.6	-15.3	142	1504	0.12	2.47	0.00	0.000	2436	0.282	0.082	2306	3604	3969	3963	3976	0	0	0	0	0	0	13.91	14.12	14.08
1579	-0.86	-145.9	2307	3607	3963	3977	228.7	-11.6	158	1584	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2202	3969	3962	3976	0	0	0	0	0	0	14.26	14.18	14.31
1889	-0.86	-145.9	2306	2201	3964	3974	265.8	-12.1	170	1894	0.00	2.45	0.00	0.000	260	0.000	0.086	2302	3601	3967	3962	3973	0	0	0	0	0	0	14.52	14.18	14.53
1924	-0.90	-145.9	2304	3603	3963	3973	270.0	-12.1	177	1929	0.00	2.38	0.00	0.000	1158	0.000	0.058	2302	2201	3968	3962	3974	0	0	0	0	0	0	14.29	14.18	14.31
2249	-0.90	-145.9	2303	2201	3961	3971	308.2	-11.7	192	2254	0.00	2.42	0.00	0.000	260	0.000	0.085	2294	3597	3966	3961	3971	0	0	0	0	0	0	14.52	14.18	14.54
2299	-0.95	-145.9	2294	3599	3961	3972	314.1	-11.6	202	2304	0.00	2.38	0.00	0.000	1158	0.000	0.058	2294	2201	3965	3960	3971	0	0	0	0	0	0	14.29	14.18	14.32
2609	-0.95	-145.9	2294	2200	3961	3970	351.7	-12.2	214	2614	0.00	2.45	0.00	0.000	260	0.000	0.085	2286	3601	3965	3960	3970	0	0	0	0	0	0	14.53	14.19	14.55
2669	-0.99	-145.9	2286	3601	3960	3970	359.1	-12.2	226	2674	0.00	2.38	0.00	0.000	1158	0.000	0.060	2286	2197	3964	3958	3970	0	0	0	0	0	0	14.33	14.22	14.35
2999	-0.99	-145.9	2286	2197	3960	3970	401.4	-12.8	242	3004	0.00	2.45	0.00	0.000	260	0.000	0.085	2280	3598	3963	3959	3968	0	0	0	0	0	0	14.53	14.18	14.55
3084	-1.01	-145.9	2281	3599	3959	3968	412.1	-12.2	259	3091	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2198	3963	3958	3968	0	0	0	0	0	0	14.30	14.18	14.33
3389	-0.99	-145.9	2280	2197	3958	3968	451.1	-12.8	270	3394	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3604	3962	3958	3967	0	0	0	0	0	0	14.53	14.17	14.54
3459	-1.03	-145.9	2279	3605	3957	3968	459.8	-11.9	284	3464	0.00	2.40	0.00	0.000	1158	0.000	0.058	2282	2193	3961	3956	3967	0	0	0	0	0	0	14.33	14.21	14.34
3627	end dive: TARGET_DEPTH_EXCEEDED
state	3627	begin apogee
3633	-0.13	0.0	2279	2066	3957	3967	480.9	-12.4	293	3890	0.98	0.00	253.75	1.337	10246	0.246	0.000	2527	2065	3366	3395	3337	0	0	0	0	0	0	13.95	13.47	12.88
3893	end apogee: CONTROL_FINISHED_OK
state	3893	begin climb
3896	0.57	145.9	2528	2065	3391	3330	492.3	0.0	301	4103	0.75	2.72	198.20	1.354	10500	0.065	0.074	2782	3497	2760	2812	2708	0	0	0	0	0	0	13.54	13.13	12.64
4334	0.16	145.9	2781	3498	2782	2704	450.1	18.8	347	4339	0.75	2.40	0.00	0.000	5254	0.345	0.057	2638	2122	2742	2781	2703	0	0	0	0	0	0	13.49	13.78	13.82
4645	0.09	161.8	2638	2121	2782	2700	419.5	9.3	359	4664	0.00	2.50	12.07	1.517	8612	0.000	0.080	2637	3497	2701	2743	2659	0	0	0	0	0	0	14.30	14.00	13.24
4724	-0.00	161.8	2638	3497	2737	2652	411.2	10.8	375	4730	0.28	2.42	0.00	0.000	5254	0.253	0.057	2583	2091	2695	2736	2654	0	0	0	0	0	0	13.82	14.03	14.07
5035	0.11	243.5	2584	2091	2736	2651	390.9	6.2	387	5177	0.12	2.60	131.57	1.291	10916	0.139	0.086	2646	695	2364	2418	2310	0	0	0	0	0	0	14.17	13.64	13.08
5202	0.16	243.5	2646	695	2406	2306	375.2	10.0	420	5208	0.00	2.53	0.00	0.000	1158	0.000	0.078	2645	2087	2354	2405	2304	0	0	0	0	0	0	13.84	13.75	13.86
5518	0.16	243.5	2646	2089	2404	2294	342.7	10.4	433	5519	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2088	2348	2403	2293	0	0	0	0	0	0	14.30	14.32	14.32
5818	0.16	243.5	2647	2088	2403	2291	310.9	10.6	443	5819	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2088	2346	2401	2291	0	0	0	0	0	0	14.43	14.45	14.45
6118	0.16	244.4	2646	2089	2401	2290	280.8	10.0	453	6119	0.00	0.00	0.00	0.000	38	0.000	0.000	2650	2088	2345	2400	2290	0	0	0	0	0	0	14.49	14.51	14.51
6418	0.16	255.4	2646	2088	2399	2289	251.6	9.5	463	6422	0.00	0.00	2.88	0.929	8230	0.000	0.000	2646	2088	2323	2378	2269	0	0	0	0	0	0	14.52	14.22	13.10
6718	0.17	267.9	2646	2088	2391	2283	223.3	9.4	473	6754	0.00	2.50	29.25	1.327	8740	0.000	0.084	2646	693	2268	2321	2215	0	0	0	0	0	0	14.52	14.09	13.46
6789	0.27	291.5	2647	694	2315	2212	216.7	8.9	487	6834	0.00	2.47	36.88	1.316	9382	0.000	0.079	2646	2110	2172	2225	2119	0	0	0	0	0	0	14.20	14.09	13.30
7141	0.35	315.8	2646	2112	2218	2106	185.0	8.9	507	7179	0.15	0.00	35.97	1.327	10406	0.119	0.000	2705	2111	2078	2131	2026	0	0	0	0	0	0	14.17	13.98	13.33
7469	0.31	315.8	2705	2112	2119	2013	146.4	11.3	518	7470	0.00	0.00	0.00	0.000	134	0.000	0.000	2705	2111	2065	2118	2012	0	0	0	0	0	0	14.38	14.40	14.40
7769	0.33	333.5	2705	2110	2118	2009	116.4	9.2	528	7791	0.00	0.00	20.42	1.375	8230	0.000	0.000	2704	2111	2006	2058	1955	0	0	0	0	0	0	14.45	14.09	13.43
8070	0.40	392.1	2710	2110	2051	1944	92.6	7.3	544	8106	0.00	2.55	28.85	0.490	8868	0.000	0.083	2709	692	1767	1805	1729	0	0	0	0	0	0	14.40	14.07	13.67
8227	0.59	456.1	2708	693	1802	1730	81.6	7.0	575	8265	0.20	2.50	32.42	0.449	11430	0.101	0.079	2783	2101	1504	1551	1457	0	0	0	0	0	0	14.05	13.98	13.71
8562	0.60	474.8	2785	2101	1551	1444	44.6	9.1	612	8578	0.00	2.55	9.07	0.341	8740	0.000	0.085	2790	691	1427	1484	1371	0	0	0	0	0	0	14.38	14.05	13.80
8660	0.73	512.3	2791	691	1485	1372	36.4	8.3	631	8687	0.00	2.47	19.58	0.314	9382	0.000	0.079	2791	2097	1274	1335	1213	0	0	0	0	0	0	14.20	14.09	13.79
8983	1.02	679.7	2791	2100	1338	1205	13.8	2.3	666	9073	0.35	2.50	82.82	0.252	10916	0.086	0.086	2920	693	595	650	540	0	0	0	0	0	0	14.14	13.95	13.81
9155	end climb: SURFACE_DEPTH_REACHED
state	9155	begin surface coast
9166	end surface coast: CONTROL_FINISHED_OK
state	9166	begin surface