Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 58 * 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 58 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 172.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 172.0 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 24 VBD_MIN 500

DIVE 58 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 130817,101803,7158.2417,-14743.7207,17,0.7,28,21.4,0.6,233.8,11,7.7 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 1.21 MHEAD_RNG_PITCHd_Wd 335.9,152932,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.9 D_GRID 480

GPS2 130817,102850,7158.1914,-14743.8740,5,0.7,9,21.4,0.0,267.6,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813122212.928441,3,10,03,0166,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C PM_FREEKB_00 58715968

FINISH 1.3,1.019947 _24V_AH 12.62,70.236

SM_CCo 9153,0.00,0.000,0,0,497,703.52 _10V_AH 12.38,0.000

SM_GC 1.10,8.27,2.33,0.00,0.076,0.067,0.000,203,2203,497,-7.37,0.79,703.52,0,0,0,0,0,0,14.15,14.09,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 175 FG_AHR_10Vo 0.000

MODEM 3,1502626932,74.30400,-153.94400,225.928,327993.2 MEM 323732

RAFOS_FIX 7155.339844,-14750.280273,130817,080849,2,255,3.63 DATA_FILE_SIZE 26707,725

IRIDIUM_FIX 7157.35,-14747.17,130817,073806 CAP_FILE_SIZE 103222,0

TT8_MAMPS 0.040446,0.898051 CFSIZE 2097872896,2070708224

HUMID 48.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1451.4

TCM_TEMP 13.40 CURRENT 0.139,251.96,1

XPDR_PINGS 10 GPS 130817,130302,7159.210,-14745.328,18,0.7,22,21.3,0.0,0.0,11,9.0

CP_FREE 16009494528.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 458 143.13 nil 0 0 0.00

Roll_motor 89 2145 2410.82 nil 0 0 0.00

VBD_pump_during_apogee 947 1487 17782.17 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 9096 14 1631.76

Iridium_during_xfer 384 186 905.16 NCP 9084 20 2292.80

Transponder_ping 2 420 13.25 PMAR 9044 16 1892.36

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.95

TT8 0 0 0.00

LPSleep 6548 2 187.28

TT8_Active 848 13 146.79

TT8_Sampling 2140 33 886.01

TT8_CF8 275 38 132.20

TT8_Kalman 0 0 0.00

Analog_circuits 2098 10 259.80

GPS_charging 0 0 0.00

Compass 1040 7 90.13

RAFOS 2191 48 1301.98

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 -145.9 177 2221 508 467 0.0 0.0 0 130 0.00 0.00 -81.75 0.000 16386 0.000 0.000 178 2218 2170 2090 2251 0 0 0 0 0 0 14.33 28.83 14.35

133 -0.57 -145.9 179 2217 2094 2245 4.5 -6.8 8 186 12.70 2.72 -30.75 0.000 18724 0.458 2.146 2376 3598 3965 3950 3980 0 0 0 0 0 0 13.69 12.71 14.09

296 -0.55 -145.9 2376 3600 3958 3980 48.7 -18.9 40 301 0.00 2.40 0.00 0.000 1158 0.000 0.055 2376 2198 3968 3956 3980 0 0 0 0 0 0 14.09 13.99 14.12

626 -0.55 -145.9 2376 2196 3962 3980 105.0 -14.6 72 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2196 3970 3961 3979 0 0 0 0 0 0 14.39 14.45 14.45

926 -0.59 -145.9 2376 2196 3962 3980 143.1 -11.6 82 931 0.00 2.47 0.00 0.000 388 0.000 0.085 2368 3607 3969 3961 3977 0 0 0 0 0 0 14.47 14.12 14.49

981 -0.73 -145.9 2368 3608 3962 3980 148.9 -9.9 93 987 0.00 2.38 0.00 0.000 1190 0.000 0.054 2368 2197 3970 3962 3979 0 0 0 0 0 0 14.23 14.16 14.23

1287 -0.80 -145.9 2367 2197 3961 3980 180.9 -10.0 104 1292 0.12 2.47 0.00 0.000 4516 0.144 0.084 2307 3601 3970 3961 3979 0 0 0 0 0 0 14.23 14.18 14.28

1432 -0.80 -145.9 2308 3601 3962 3980 199.3 -12.4 133 1438 0.00 2.38 0.00 0.000 1030 0.000 0.055 2304 2196 3969 3960 3979 0 0 0 0 0 0 14.28 14.17 14.29

1737 -0.80 -145.9 2308 2195 3962 3978 238.4 -12.4 144 1742 0.00 2.47 0.00 0.000 260 0.000 0.086 2303 3602 3969 3960 3978 0 0 0 0 0 0 14.52 14.19 14.54

1883 -0.86 -145.9 2304 3603 3960 3978 255.3 -10.5 173 1890 0.00 2.38 0.00 0.000 1158 0.000 0.056 2303 2202 3968 3958 3978 0 0 0 0 0 0 14.31 14.22 14.33

2187 -0.86 -145.9 2303 2202 3959 3976 290.4 -11.4 184 2192 0.00 2.47 0.00 0.000 260 0.000 0.086 2295 3603 3967 3958 3976 0 0 0 0 0 0 14.54 14.19 14.56

2257 -0.93 -145.9 2294 3605 3957 3977 298.4 -11.4 198 2262 0.00 2.40 0.00 0.000 1158 0.000 0.059 2295 2193 3968 3957 3980 0 0 0 0 0 0 14.35 14.22 14.37

2577 -0.93 -145.9 2295 2193 3957 3974 337.0 -12.1 212 2582 0.00 2.50 0.00 0.000 260 0.000 0.086 2286 3609 3965 3956 3975 0 0 0 0 0 0 14.54 14.19 14.55

2657 -0.97 -145.9 2286 3610 3956 3976 346.8 -11.7 228 2662 0.00 2.40 0.00 0.000 1158 0.000 0.058 2286 2189 3965 3955 3975 0 0 0 0 0 0 14.34 14.23 14.39

2967 -0.97 -145.9 2285 2189 3956 3974 386.0 -12.6 240 2972 0.00 2.50 0.00 0.000 260 0.000 0.085 2280 3603 3964 3955 3973 0 0 0 0 0 0 14.54 14.16 14.57

3032 -1.00 -145.9 2281 3605 3955 3975 394.3 -12.5 253 3037 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2199 3964 3954 3974 0 0 0 0 0 0 14.34 14.23 14.37

3357 -1.00 -145.9 2280 2199 3954 3979 435.9 -12.8 268 3362 0.00 2.47 0.00 0.000 260 0.000 0.086 2279 3601 3962 3954 3971 0 0 0 0 0 0 14.54 14.18 14.54

3422 -1.03 -145.9 2279 3601 3955 3973 444.2 -12.5 281 3427 0.12 2.38 0.00 0.000 5254 0.142 0.058 2235 2202 3963 3954 3973 0 0 0 0 0 0 14.22 14.22 14.33

3655 end dive: TARGET_DEPTH_EXCEEDED

state 3655 begin apogee

3661 -0.13 0.0 2236 2059 3954 3972 482.8 -16.8 293 3905 1.23 0.05 240.12 1.357 10246 0.284 0.223 2528 2093 3365 3393 3338 0 0 0 0 0 0 13.86 13.41 12.86

3909 end apogee: CONTROL_FINISHED_OK

state 3909 begin climb

3913 0.57 145.9 2529 2094 3384 3330 494.5 0.0 301 4158 0.75 2.60 202.30 1.339 10756 0.065 0.077 2791 730 2751 2798 2705 0 0 0 0 0 0 13.55 13.12 12.62

4385 0.23 145.9 2791 730 2792 2703 453.7 16.4 348 4392 0.60 2.45 0.00 0.000 5254 0.321 0.076 2664 2100 2750 2792 2708 0 0 0 0 0 0 13.52 13.78 13.83

4689 0.10 145.9 2664 2102 2792 2698 421.2 10.3 359 4694 0.17 2.42 0.00 0.000 4740 0.309 0.077 2632 725 2745 2792 2698 0 0 0 0 0 0 13.80 13.98 13.97

4810 0.14 193.7 2632 725 2793 2697 411.3 7.8 383 4884 0.00 2.42 65.65 1.344 9254 0.000 0.080 2632 2101 2569 2628 2510 0 0 0 0 0 0 14.17 14.06 13.17

5199 0.15 209.0 2632 2101 2618 2492 375.4 9.3 411 5217 0.00 0.00 16.58 1.460 8230 0.000 0.000 2631 2100 2514 2577 2451 0 0 0 0 0 0 14.35 14.02 13.33

5499 0.16 227.8 2632 2100 2566 2437 347.8 9.1 421 5530 0.00 0.00 25.92 1.445 8230 0.000 0.000 2631 2100 2431 2492 2370 0 0 0 0 0 0 14.32 13.83 13.29

5829 0.18 251.8 2632 2103 2485 2362 318.1 8.9 432 5865 0.00 0.00 34.62 1.397 8230 0.000 0.000 2632 2101 2341 2396 2287 0 0 0 0 0 0 14.28 13.93 13.25

6160 0.22 263.5 2632 2101 2384 2272 287.5 9.5 443 6179 0.00 2.45 15.25 1.487 8868 0.000 0.082 2633 719 2286 2340 2232 0 0 0 0 0 0 14.27 13.85 13.28

6215 0.33 282.4 2633 719 2334 2233 282.3 9.1 454 6252 0.17 2.45 28.35 1.416 11430 0.107 0.078 2703 2105 2211 2262 2161 0 0 0 0 0 0 14.02 13.95 13.18

6551 0.27 282.4 2698 2106 2258 2152 237.0 13.5 471 6556 0.10 2.47 0.00 0.000 4484 0.245 0.080 2674 3506 2203 2257 2150 0 0 0 0 0 0 13.89 13.98 14.03

6577 0.21 282.4 2674 3507 2256 2150 233.3 13.8 476 6584 0.00 2.38 0.00 0.000 1158 0.000 0.061 2675 2132 2202 2254 2150 0 0 0 0 0 0 14.11 14.01 14.14

6881 0.21 282.4 2672 2131 2256 2148 199.9 10.6 487 6886 0.00 2.55 0.00 0.000 516 0.000 0.087 2685 693 2200 2255 2146 0 0 0 0 0 0 14.32 14.02 14.34

6946 0.25 282.4 2685 694 2254 2148 192.9 10.1 500 6952 0.00 2.50 0.00 0.000 1158 0.000 0.079 2685 2103 2201 2255 2148 0 0 0 0 0 0 14.16 14.06 14.19

7273 0.27 303.9 2685 2106 2254 2148 161.8 9.0 515 7309 0.00 2.50 32.08 1.359 8484 0.000 0.081 2685 3511 2123 2174 2073 0 0 0 0 0 0 14.35 13.84 13.32

7344 0.27 303.9 2685 3511 2167 2073 155.1 10.1 529 7349 0.00 2.45 0.00 0.000 1030 0.000 0.063 2685 2100 2119 2166 2073 0 0 0 0 0 0 14.06 13.97 14.08

7666 0.32 341.6 2686 2100 2168 2066 127.7 8.3 543 7736 0.00 2.60 60.12 1.267 8868 0.000 0.086 2686 690 1966 2014 1919 0 0 0 0 0 0 14.31 13.77 13.21

7768 0.47 384.7 2686 690 2011 1919 119.4 8.0 563 7846 0.15 2.47 66.95 1.206 11430 0.124 0.078 2749 2102 1793 1827 1759 0 0 0 0 0 0 13.89 13.85 13.11

8151 0.47 384.7 2748 2102 1820 1745 75.7 10.7 603 8156 0.00 2.53 0.00 0.000 516 0.000 0.084 2755 693 1781 1819 1744 0 0 0 0 0 0 14.21 13.89 14.23

8216 0.51 389.9 2756 693 1816 1745 69.1 9.8 616 8223 0.00 2.50 0.00 0.000 1190 0.000 0.079 2752 2096 1779 1814 1744 0 0 0 0 0 0 14.09 13.98 14.10

8521 0.57 473.7 2756 2096 1815 1742 42.7 6.1 647 8569 0.00 2.50 43.42 0.330 8740 0.000 0.082 2754 690 1430 1481 1379 0 0 0 0 0 0 14.36 13.95 13.76

8599 0.78 549.3 2756 689 1480 1379 37.5 6.5 662 8642 0.22 2.50 38.40 0.312 11430 0.100 0.078 2843 2104 1122 1195 1050 0 0 0 0 0 0 14.02 13.95 13.79

8948 0.96 733.9 2844 2104 1196 1039 10.5 1.5 701 9033 0.12 2.55 77.70 0.238 10660 0.133 0.080 2898 3509 497 531 464 0 0 0 0 0 0 14.13 14.02 13.85

9060 end climb: SURFACE_DEPTH_REACHED

state 9061 begin surface coast

9071 end surface coast: CONTROL_FINISHED_OK

state 9071 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	58	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	172.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,101803,7158.2417,-14743.7207,17,0.7,28,21.4,0.6,233.8,11,7.7	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	1.21	MHEAD_RNG_PITCHd_Wd	335.9,152932,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.9	D_GRID	480
GPS2	130817,102850,7158.1914,-14743.8740,5,0.7,9,21.4,0.0,267.6,11,10.0

MODEM_MSG	CACST,6,1,20170813122212.928441,3,10,03,0166,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	PM_FREEKB_00	58715968
FINISH	1.3,1.019947	_24V_AH	12.62,70.236
SM_CCo	9153,0.00,0.000,0,0,497,703.52	_10V_AH	12.38,0.000
SM_GC	1.10,8.27,2.33,0.00,0.076,0.067,0.000,203,2203,497,-7.37,0.79,703.52,0,0,0,0,0,0,14.15,14.09,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	175	FG_AHR_10Vo	0.000
MODEM	3,1502626932,74.30400,-153.94400,225.928,327993.2	MEM	323732
RAFOS_FIX	7155.339844,-14750.280273,130817,080849,2,255,3.63	DATA_FILE_SIZE	26707,725
IRIDIUM_FIX	7157.35,-14747.17,130817,073806	CAP_FILE_SIZE	103222,0
TT8_MAMPS	0.040446,0.898051	CFSIZE	2097872896,2070708224
HUMID	48.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1451.4
TCM_TEMP	13.40	CURRENT	0.139,251.96,1
XPDR_PINGS	10	GPS	130817,130302,7159.210,-14745.328,18,0.7,22,21.3,0.0,0.0,11,9.0
CP_FREE	16009494528.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	458	143.13	nil	0	0	0.00
Roll_motor	89	2145	2410.82	nil	0	0	0.00
VBD_pump_during_apogee	947	1487	17782.17	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	9096	14	1631.76
Iridium_during_xfer	384	186	905.16	NCP	9084	20	2292.80
Transponder_ping	2	420	13.25	PMAR	9044	16	1892.36
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.95
TT8	0	0	0.00
LPSleep	6548	2	187.28
TT8_Active	848	13	146.79
TT8_Sampling	2140	33	886.01
TT8_CF8	275	38	132.20
TT8_Kalman	0	0	0.00
Analog_circuits	2098	10	259.80
GPS_charging	0	0	0.00
Compass	1040	7	90.13
RAFOS	2191	48	1301.98
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	177	2221	508	467	0.0	0.0	0	130	0.00	0.00	-81.75	0.000	16386	0.000	0.000	178	2218	2170	2090	2251	0	0	0	0	0	0	14.33	28.83	14.35
133	-0.57	-145.9	179	2217	2094	2245	4.5	-6.8	8	186	12.70	2.72	-30.75	0.000	18724	0.458	2.146	2376	3598	3965	3950	3980	0	0	0	0	0	0	13.69	12.71	14.09
296	-0.55	-145.9	2376	3600	3958	3980	48.7	-18.9	40	301	0.00	2.40	0.00	0.000	1158	0.000	0.055	2376	2198	3968	3956	3980	0	0	0	0	0	0	14.09	13.99	14.12
626	-0.55	-145.9	2376	2196	3962	3980	105.0	-14.6	72	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2196	3970	3961	3979	0	0	0	0	0	0	14.39	14.45	14.45
926	-0.59	-145.9	2376	2196	3962	3980	143.1	-11.6	82	931	0.00	2.47	0.00	0.000	388	0.000	0.085	2368	3607	3969	3961	3977	0	0	0	0	0	0	14.47	14.12	14.49
981	-0.73	-145.9	2368	3608	3962	3980	148.9	-9.9	93	987	0.00	2.38	0.00	0.000	1190	0.000	0.054	2368	2197	3970	3962	3979	0	0	0	0	0	0	14.23	14.16	14.23
1287	-0.80	-145.9	2367	2197	3961	3980	180.9	-10.0	104	1292	0.12	2.47	0.00	0.000	4516	0.144	0.084	2307	3601	3970	3961	3979	0	0	0	0	0	0	14.23	14.18	14.28
1432	-0.80	-145.9	2308	3601	3962	3980	199.3	-12.4	133	1438	0.00	2.38	0.00	0.000	1030	0.000	0.055	2304	2196	3969	3960	3979	0	0	0	0	0	0	14.28	14.17	14.29
1737	-0.80	-145.9	2308	2195	3962	3978	238.4	-12.4	144	1742	0.00	2.47	0.00	0.000	260	0.000	0.086	2303	3602	3969	3960	3978	0	0	0	0	0	0	14.52	14.19	14.54
1883	-0.86	-145.9	2304	3603	3960	3978	255.3	-10.5	173	1890	0.00	2.38	0.00	0.000	1158	0.000	0.056	2303	2202	3968	3958	3978	0	0	0	0	0	0	14.31	14.22	14.33
2187	-0.86	-145.9	2303	2202	3959	3976	290.4	-11.4	184	2192	0.00	2.47	0.00	0.000	260	0.000	0.086	2295	3603	3967	3958	3976	0	0	0	0	0	0	14.54	14.19	14.56
2257	-0.93	-145.9	2294	3605	3957	3977	298.4	-11.4	198	2262	0.00	2.40	0.00	0.000	1158	0.000	0.059	2295	2193	3968	3957	3980	0	0	0	0	0	0	14.35	14.22	14.37
2577	-0.93	-145.9	2295	2193	3957	3974	337.0	-12.1	212	2582	0.00	2.50	0.00	0.000	260	0.000	0.086	2286	3609	3965	3956	3975	0	0	0	0	0	0	14.54	14.19	14.55
2657	-0.97	-145.9	2286	3610	3956	3976	346.8	-11.7	228	2662	0.00	2.40	0.00	0.000	1158	0.000	0.058	2286	2189	3965	3955	3975	0	0	0	0	0	0	14.34	14.23	14.39
2967	-0.97	-145.9	2285	2189	3956	3974	386.0	-12.6	240	2972	0.00	2.50	0.00	0.000	260	0.000	0.085	2280	3603	3964	3955	3973	0	0	0	0	0	0	14.54	14.16	14.57
3032	-1.00	-145.9	2281	3605	3955	3975	394.3	-12.5	253	3037	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2199	3964	3954	3974	0	0	0	0	0	0	14.34	14.23	14.37
3357	-1.00	-145.9	2280	2199	3954	3979	435.9	-12.8	268	3362	0.00	2.47	0.00	0.000	260	0.000	0.086	2279	3601	3962	3954	3971	0	0	0	0	0	0	14.54	14.18	14.54
3422	-1.03	-145.9	2279	3601	3955	3973	444.2	-12.5	281	3427	0.12	2.38	0.00	0.000	5254	0.142	0.058	2235	2202	3963	3954	3973	0	0	0	0	0	0	14.22	14.22	14.33
3655	end dive: TARGET_DEPTH_EXCEEDED
state	3655	begin apogee
3661	-0.13	0.0	2236	2059	3954	3972	482.8	-16.8	293	3905	1.23	0.05	240.12	1.357	10246	0.284	0.223	2528	2093	3365	3393	3338	0	0	0	0	0	0	13.86	13.41	12.86
3909	end apogee: CONTROL_FINISHED_OK
state	3909	begin climb
3913	0.57	145.9	2529	2094	3384	3330	494.5	0.0	301	4158	0.75	2.60	202.30	1.339	10756	0.065	0.077	2791	730	2751	2798	2705	0	0	0	0	0	0	13.55	13.12	12.62
4385	0.23	145.9	2791	730	2792	2703	453.7	16.4	348	4392	0.60	2.45	0.00	0.000	5254	0.321	0.076	2664	2100	2750	2792	2708	0	0	0	0	0	0	13.52	13.78	13.83
4689	0.10	145.9	2664	2102	2792	2698	421.2	10.3	359	4694	0.17	2.42	0.00	0.000	4740	0.309	0.077	2632	725	2745	2792	2698	0	0	0	0	0	0	13.80	13.98	13.97
4810	0.14	193.7	2632	725	2793	2697	411.3	7.8	383	4884	0.00	2.42	65.65	1.344	9254	0.000	0.080	2632	2101	2569	2628	2510	0	0	0	0	0	0	14.17	14.06	13.17
5199	0.15	209.0	2632	2101	2618	2492	375.4	9.3	411	5217	0.00	0.00	16.58	1.460	8230	0.000	0.000	2631	2100	2514	2577	2451	0	0	0	0	0	0	14.35	14.02	13.33
5499	0.16	227.8	2632	2100	2566	2437	347.8	9.1	421	5530	0.00	0.00	25.92	1.445	8230	0.000	0.000	2631	2100	2431	2492	2370	0	0	0	0	0	0	14.32	13.83	13.29
5829	0.18	251.8	2632	2103	2485	2362	318.1	8.9	432	5865	0.00	0.00	34.62	1.397	8230	0.000	0.000	2632	2101	2341	2396	2287	0	0	0	0	0	0	14.28	13.93	13.25
6160	0.22	263.5	2632	2101	2384	2272	287.5	9.5	443	6179	0.00	2.45	15.25	1.487	8868	0.000	0.082	2633	719	2286	2340	2232	0	0	0	0	0	0	14.27	13.85	13.28
6215	0.33	282.4	2633	719	2334	2233	282.3	9.1	454	6252	0.17	2.45	28.35	1.416	11430	0.107	0.078	2703	2105	2211	2262	2161	0	0	0	0	0	0	14.02	13.95	13.18
6551	0.27	282.4	2698	2106	2258	2152	237.0	13.5	471	6556	0.10	2.47	0.00	0.000	4484	0.245	0.080	2674	3506	2203	2257	2150	0	0	0	0	0	0	13.89	13.98	14.03
6577	0.21	282.4	2674	3507	2256	2150	233.3	13.8	476	6584	0.00	2.38	0.00	0.000	1158	0.000	0.061	2675	2132	2202	2254	2150	0	0	0	0	0	0	14.11	14.01	14.14
6881	0.21	282.4	2672	2131	2256	2148	199.9	10.6	487	6886	0.00	2.55	0.00	0.000	516	0.000	0.087	2685	693	2200	2255	2146	0	0	0	0	0	0	14.32	14.02	14.34
6946	0.25	282.4	2685	694	2254	2148	192.9	10.1	500	6952	0.00	2.50	0.00	0.000	1158	0.000	0.079	2685	2103	2201	2255	2148	0	0	0	0	0	0	14.16	14.06	14.19
7273	0.27	303.9	2685	2106	2254	2148	161.8	9.0	515	7309	0.00	2.50	32.08	1.359	8484	0.000	0.081	2685	3511	2123	2174	2073	0	0	0	0	0	0	14.35	13.84	13.32
7344	0.27	303.9	2685	3511	2167	2073	155.1	10.1	529	7349	0.00	2.45	0.00	0.000	1030	0.000	0.063	2685	2100	2119	2166	2073	0	0	0	0	0	0	14.06	13.97	14.08
7666	0.32	341.6	2686	2100	2168	2066	127.7	8.3	543	7736	0.00	2.60	60.12	1.267	8868	0.000	0.086	2686	690	1966	2014	1919	0	0	0	0	0	0	14.31	13.77	13.21
7768	0.47	384.7	2686	690	2011	1919	119.4	8.0	563	7846	0.15	2.47	66.95	1.206	11430	0.124	0.078	2749	2102	1793	1827	1759	0	0	0	0	0	0	13.89	13.85	13.11
8151	0.47	384.7	2748	2102	1820	1745	75.7	10.7	603	8156	0.00	2.53	0.00	0.000	516	0.000	0.084	2755	693	1781	1819	1744	0	0	0	0	0	0	14.21	13.89	14.23
8216	0.51	389.9	2756	693	1816	1745	69.1	9.8	616	8223	0.00	2.50	0.00	0.000	1190	0.000	0.079	2752	2096	1779	1814	1744	0	0	0	0	0	0	14.09	13.98	14.10
8521	0.57	473.7	2756	2096	1815	1742	42.7	6.1	647	8569	0.00	2.50	43.42	0.330	8740	0.000	0.082	2754	690	1430	1481	1379	0	0	0	0	0	0	14.36	13.95	13.76
8599	0.78	549.3	2756	689	1480	1379	37.5	6.5	662	8642	0.22	2.50	38.40	0.312	11430	0.100	0.078	2843	2104	1122	1195	1050	0	0	0	0	0	0	14.02	13.95	13.79
8948	0.96	733.9	2844	2104	1196	1039	10.5	1.5	701	9033	0.12	2.55	77.70	0.238	10660	0.133	0.080	2898	3509	497	531	464	0	0	0	0	0	0	14.13	14.02	13.85
9060	end climb: SURFACE_DEPTH_REACHED
state	9061	begin surface coast
9071	end surface coast: CONTROL_FINISHED_OK
state	9071	begin surface