Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 78 * 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 78 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 226.0

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 58 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 226.0 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 58 VBD_MIN 500

DIVE 78 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 150817,181936,7220.8794,-14813.7490,28,0.7,32,21.3,1.2,11.6,12,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.07 MHEAD_RNG_PITCHd_Wd 321.8,108324,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 150817,183254,7220.9478,-14813.8584,7,0.8,9,21.3,0.6,304.7,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170815202926.127251,3,558,27,0446,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00 PM_FREEKB_00 57209792

FINISH -0.1,1.020166 _24V_AH 12.56,79.567

SM_CCo 8967,0.00,0.000,0,0,497,703.52 _10V_AH 12.48,0.000

SM_GC 0.90,8.25,0.17,0.00,0.076,0.111,0.000,204,2232,497,-7.38,-0.48,703.52,0,0,0,0,0,0,14.16,14.18,14.25 FG_AHR_24Vo 0.000

RAFOS_CLK 175 FG_AHR_10Vo 0.000

MODEM 0,1502827495,75.36600,-145.04601,241.343,350094.8 MEM 323720

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 DATA_FILE_SIZE 26721,785

IRIDIUM_FIX 7221.25,-14814.72,150817,182405 CAP_FILE_SIZE 108761,0

TT8_MAMPS 0.038948,0.854609 CFSIZE 2097872896,2064842752

HUMID 47.32 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 INTR 1,6165.03,0x213afc,1,24

TCM_TEMP 13.50 SOUNDSPEED 1450.5

XPDR_PINGS 12 CURRENT 0.051,264.78,1

CP_FREE 16006184960.000000 GPS 150817,210402,7222.079,-14814.882,23,0.7,23,21.3,0.0,0.0,10,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 144.74 nil 0 0 0.00

Roll_motor 88 2146 2398.87 nil 0 0 0.00

VBD_pump_during_apogee 944 1488 17657.41 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 8913 14 1659.06

Iridium_during_xfer 468 170 1003.25 NCP 8903 20 2236.43

Transponder_ping 3 420 15.83 PMAR 8862 16 1844.91

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.80

TT8 0 0 0.00

LPSleep 6362 2 183.41

TT8_Active 823 13 143.49

TT8_Sampling 2292 33 956.88

TT8_CF8 298 38 144.29

TT8_Kalman 0 0 0.00

Analog_circuits 2173 10 271.29

GPS_charging 0 0 0.00

Compass 1124 7 98.25

RAFOS 2200 48 1317.89

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 -145.9 176 2226 509 463 0.0 0.0 0 129 0.00 0.00 -81.03 0.000 16386 0.000 0.000 172 2226 2045 1968 2122 0 0 0 0 0 0 14.38 28.83 14.40

132 -0.57 -145.9 173 2227 1970 2125 3.4 -4.6 8 189 12.55 2.70 -36.92 0.000 18724 0.451 2.147 2375 3588 3965 3953 3978 0 0 0 0 0 0 13.72 12.66 14.13

415 -0.60 -145.9 2375 3589 3962 3981 59.6 -14.9 64 419 0.00 2.30 0.00 0.000 1158 0.000 0.054 2375 2229 3971 3963 3979 0 0 0 0 0 0 14.22 14.12 14.25

744 -0.60 -145.9 2376 2226 3964 3981 109.1 -13.4 94 749 0.00 2.38 0.00 0.000 260 0.000 0.086 2365 3589 3971 3963 3979 0 0 0 0 0 0 14.47 14.15 14.48

881 -0.70 -145.9 2366 3591 3964 3979 125.2 -11.5 121 886 0.00 2.35 0.00 0.000 1158 0.000 0.054 2364 2201 3971 3963 3979 0 0 0 0 0 0 14.28 14.18 14.31

1197 -0.76 -145.9 2362 2200 3964 3980 163.6 -11.7 134 1201 0.00 2.45 0.00 0.000 388 0.000 0.088 2356 3591 3972 3963 3981 0 0 0 0 0 0 14.53 14.16 14.54

1241 -0.89 -145.9 2356 3593 3963 3980 168.7 -11.2 143 1248 0.20 2.35 0.00 0.000 5254 0.103 0.055 2279 2196 3971 3963 3979 0 0 0 0 0 0 14.23 14.21 14.33

1558 -0.81 -145.9 2279 2198 3964 3979 224.4 -17.1 156 1563 0.15 2.45 0.00 0.000 2436 0.281 0.083 2305 3592 3971 3963 3979 0 0 0 0 0 0 13.97 14.13 14.09

1643 -0.86 -145.9 2306 3592 3963 3979 235.3 -11.8 173 1649 0.00 2.35 0.00 0.000 1158 0.000 0.055 2305 2200 3970 3962 3979 0 0 0 0 0 0 14.31 14.23 14.34

1948 -0.86 -145.9 2306 2200 3963 3978 272.0 -11.8 184 1953 0.00 2.45 0.00 0.000 260 0.000 0.089 2297 3592 3969 3962 3977 0 0 0 0 0 0 14.55 14.16 14.57

2053 -0.92 -145.9 2298 3594 3962 3978 284.1 -11.2 205 2058 0.00 2.35 0.00 0.000 1158 0.000 0.057 2297 2200 3969 3962 3977 0 0 0 0 0 0 14.35 14.25 14.38

2368 -0.92 -145.9 2298 2200 3962 3975 321.5 -11.7 218 2373 0.00 2.45 0.00 0.000 260 0.000 0.089 2293 3596 3967 3960 3975 0 0 0 0 0 0 14.56 14.19 14.58

2433 -0.99 -145.9 2294 3598 3962 3974 328.8 -10.7 231 2439 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2193 3968 3961 3975 0 0 0 0 0 0 14.31 14.19 14.34

2759 -0.99 -145.9 2294 2192 3962 3974 366.0 -11.4 246 2764 0.00 2.45 0.00 0.000 260 0.000 0.088 2286 3589 3967 3961 3973 0 0 0 0 0 0 14.57 14.21 14.58

2844 -1.06 -145.9 2287 3592 3961 3976 375.5 -10.8 263 2851 0.15 2.35 0.00 0.000 5254 0.125 0.056 2234 2193 3967 3960 3974 0 0 0 0 0 0 14.23 14.22 14.33

3150 -0.95 -145.9 2234 2193 3961 3973 425.1 -16.6 274 3155 0.12 2.45 0.00 0.000 2436 0.318 0.083 2251 3594 3966 3960 3973 0 0 0 0 0 0 13.94 14.21 14.11

3285 -0.92 -145.9 2252 3594 3960 3973 444.8 -13.9 301 3290 0.12 2.35 0.00 0.000 3206 0.281 0.056 2274 2198 3966 3959 3973 0 0 0 0 0 0 13.99 14.24 14.26

3568 end dive: TARGET_DEPTH_EXCEEDED

state 3568 begin apogee

3574 -0.13 0.0 2275 2070 3960 3972 481.0 -12.5 313 3802 1.00 0.00 225.00 1.385 10246 0.249 0.000 2529 2069 3365 3395 3336 0 0 0 0 0 0 13.95 13.48 12.81

3806 end apogee: CONTROL_FINISHED_OK

state 3806 begin climb

3808 0.57 145.9 2529 2070 3388 3325 491.3 0.0 320 4018 0.75 2.67 201.98 1.352 10500 0.068 0.073 2781 3491 2763 2817 2709 0 0 0 0 0 0 13.56 13.08 12.56

4245 0.15 145.9 2781 3491 2787 2707 455.5 17.4 366 4250 0.75 2.38 0.00 0.000 5254 0.346 0.057 2637 2129 2746 2786 2707 0 0 0 0 0 0 13.46 13.77 13.80

4556 0.09 176.3 2637 2127 2787 2705 427.1 8.6 378 4600 0.00 0.00 40.55 1.403 8614 0.000 0.000 2637 2128 2641 2691 2592 0 0 0 0 0 0 14.31 13.70 13.15

4917 0.04 191.7 2638 2126 2681 2576 393.8 9.3 400 4938 0.17 0.00 19.20 1.489 12454 0.272 0.000 2599 2127 2582 2641 2524 0 0 0 0 0 0 13.90 14.04 13.28

5217 0.13 255.7 2600 2128 2631 2504 372.3 7.0 410 5325 0.00 2.62 100.80 1.330 8868 0.000 0.085 2603 691 2317 2374 2260 0 0 0 0 0 0 14.35 13.71 13.07

5360 0.33 314.0 2603 691 2363 2254 361.9 7.3 439 5462 0.25 2.53 90.97 1.284 11430 0.086 0.079 2693 2087 2078 2134 2022 0 0 0 0 0 0 13.78 13.74 12.87

5756 0.28 314.0 2694 2087 2121 2007 307.8 14.0 468 5760 0.00 2.50 0.00 0.000 644 0.000 0.086 2698 696 2063 2120 2006 0 0 0 0 0 0 14.11 13.83 14.12

5786 0.25 314.0 2699 696 2118 2007 303.5 14.2 474 5791 0.15 2.53 0.00 0.000 5254 0.226 0.077 2666 2108 2063 2116 2011 0 0 0 0 0 0 13.77 13.88 13.97

6116 0.28 314.0 2667 2115 2118 2005 265.4 11.3 490 6121 0.00 2.53 0.00 0.000 644 0.000 0.087 2671 693 2060 2117 2004 0 0 0 0 0 0 14.30 14.02 14.32

6161 0.34 314.0 2672 693 2116 2005 260.4 11.0 499 6166 0.00 2.50 0.00 0.000 1158 0.000 0.078 2674 2111 2059 2115 2004 0 0 0 0 0 0 14.16 14.05 14.19

6476 0.37 314.0 2672 2113 2113 2005 225.9 10.7 512 6481 0.00 2.53 0.00 0.000 644 0.000 0.087 2672 689 2059 2114 2004 0 0 0 0 0 0 14.35 14.04 14.38

6501 0.42 314.0 2673 691 2114 2004 223.3 10.1 517 6509 0.15 2.50 0.00 0.000 3206 0.129 0.079 2734 2103 2058 2113 2004 0 0 0 0 0 0 14.12 14.06 14.22

6806 0.32 314.0 2736 2104 2114 2004 182.1 13.0 528 6811 0.17 2.47 0.00 0.000 4740 0.236 0.082 2699 694 2058 2113 2003 0 0 0 0 0 0 13.94 14.09 14.08

6882 0.39 331.1 2699 695 2112 2005 174.6 9.2 543 6908 0.00 2.47 19.73 1.393 9382 0.000 0.077 2699 2109 2012 2065 1960 0 0 0 0 0 0 14.22 14.11 13.35

7230 0.40 346.0 2699 2109 2056 1956 141.7 9.3 562 7259 0.00 2.55 21.48 1.396 8740 0.000 0.085 2700 703 1950 2000 1900 0 0 0 0 0 0 14.35 13.98 13.31

7311 0.51 376.6 2699 703 1997 1900 134.5 8.6 578 7370 0.15 2.47 51.42 1.275 11430 0.120 0.077 2763 2105 1828 1862 1795 0 0 0 0 0 0 14.06 14.01 13.17

7671 0.46 376.6 2763 2107 1855 1784 87.3 12.5 607 7676 0.12 2.47 0.00 0.000 4740 0.269 0.082 2742 691 1819 1855 1783 0 0 0 0 0 0 13.74 13.94 13.88

7718 0.51 377.4 2744 691 1851 1783 82.3 10.0 616 7724 0.00 2.50 0.00 0.000 1190 0.000 0.077 2742 2103 1817 1852 1783 0 0 0 0 0 0 14.02 13.91 14.04

8021 0.53 410.0 2743 2104 1853 1781 54.1 8.5 647 8044 0.00 2.47 17.02 0.369 8484 0.000 0.082 2739 3511 1690 1722 1659 0 0 0 0 0 0 14.40 13.99 13.75

8154 0.62 460.3 2743 3511 1723 1660 42.9 7.7 673 8187 0.00 2.42 27.35 0.330 9382 0.000 0.065 2750 2102 1486 1528 1444 0 0 0 0 0 0 14.14 14.04 13.78

8484 0.79 547.2 2746 2104 1528 1434 22.8 6.0 709 8538 0.22 2.50 46.05 0.271 10916 0.103 0.090 2850 691 1131 1198 1064 0 0 0 0 0 0 14.16 14.06 13.83

8763 0.96 712.2 2851 690 1195 1054 9.3 2.4 764 8853 0.12 2.47 82.80 0.228 11430 0.132 0.078 2896 2108 499 533 465 0 0 0 0 0 0 14.09 14.04 13.92

8878 end climb: SURFACE_DEPTH_REACHED

state 8878 begin surface coast

8886 end surface coast: CONTROL_FINISHED_OK

state 8886 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	78	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	226.0
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	58	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,181936,7220.8794,-14813.7490,28,0.7,32,21.3,1.2,11.6,12,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.07	MHEAD_RNG_PITCHd_Wd	321.8,108324,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	150817,183254,7220.9478,-14813.8584,7,0.8,9,21.3,0.6,304.7,11,9.8

MODEM_MSG	CACST,6,1,20170815202926.127251,3,558,27,0446,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00	PM_FREEKB_00	57209792
FINISH	-0.1,1.020166	_24V_AH	12.56,79.567
SM_CCo	8967,0.00,0.000,0,0,497,703.52	_10V_AH	12.48,0.000
SM_GC	0.90,8.25,0.17,0.00,0.076,0.111,0.000,204,2232,497,-7.38,-0.48,703.52,0,0,0,0,0,0,14.16,14.18,14.25	FG_AHR_24Vo	0.000
RAFOS_CLK	175	FG_AHR_10Vo	0.000
MODEM	0,1502827495,75.36600,-145.04601,241.343,350094.8	MEM	323720
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	DATA_FILE_SIZE	26721,785
IRIDIUM_FIX	7221.25,-14814.72,150817,182405	CAP_FILE_SIZE	108761,0
TT8_MAMPS	0.038948,0.854609	CFSIZE	2097872896,2064842752
HUMID	47.32	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	INTR	1,6165.03,0x213afc,1,24
TCM_TEMP	13.50	SOUNDSPEED	1450.5
XPDR_PINGS	12	CURRENT	0.051,264.78,1
CP_FREE	16006184960.000000	GPS	150817,210402,7222.079,-14814.882,23,0.7,23,21.3,0.0,0.0,10,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	144.74	nil	0	0	0.00
Roll_motor	88	2146	2398.87	nil	0	0	0.00
VBD_pump_during_apogee	944	1488	17657.41	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	8913	14	1659.06
Iridium_during_xfer	468	170	1003.25	NCP	8903	20	2236.43
Transponder_ping	3	420	15.83	PMAR	8862	16	1844.91
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.80
TT8	0	0	0.00
LPSleep	6362	2	183.41
TT8_Active	823	13	143.49
TT8_Sampling	2292	33	956.88
TT8_CF8	298	38	144.29
TT8_Kalman	0	0	0.00
Analog_circuits	2173	10	271.29
GPS_charging	0	0	0.00
Compass	1124	7	98.25
RAFOS	2200	48	1317.89
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	176	2226	509	463	0.0	0.0	0	129	0.00	0.00	-81.03	0.000	16386	0.000	0.000	172	2226	2045	1968	2122	0	0	0	0	0	0	14.38	28.83	14.40
132	-0.57	-145.9	173	2227	1970	2125	3.4	-4.6	8	189	12.55	2.70	-36.92	0.000	18724	0.451	2.147	2375	3588	3965	3953	3978	0	0	0	0	0	0	13.72	12.66	14.13
415	-0.60	-145.9	2375	3589	3962	3981	59.6	-14.9	64	419	0.00	2.30	0.00	0.000	1158	0.000	0.054	2375	2229	3971	3963	3979	0	0	0	0	0	0	14.22	14.12	14.25
744	-0.60	-145.9	2376	2226	3964	3981	109.1	-13.4	94	749	0.00	2.38	0.00	0.000	260	0.000	0.086	2365	3589	3971	3963	3979	0	0	0	0	0	0	14.47	14.15	14.48
881	-0.70	-145.9	2366	3591	3964	3979	125.2	-11.5	121	886	0.00	2.35	0.00	0.000	1158	0.000	0.054	2364	2201	3971	3963	3979	0	0	0	0	0	0	14.28	14.18	14.31
1197	-0.76	-145.9	2362	2200	3964	3980	163.6	-11.7	134	1201	0.00	2.45	0.00	0.000	388	0.000	0.088	2356	3591	3972	3963	3981	0	0	0	0	0	0	14.53	14.16	14.54
1241	-0.89	-145.9	2356	3593	3963	3980	168.7	-11.2	143	1248	0.20	2.35	0.00	0.000	5254	0.103	0.055	2279	2196	3971	3963	3979	0	0	0	0	0	0	14.23	14.21	14.33
1558	-0.81	-145.9	2279	2198	3964	3979	224.4	-17.1	156	1563	0.15	2.45	0.00	0.000	2436	0.281	0.083	2305	3592	3971	3963	3979	0	0	0	0	0	0	13.97	14.13	14.09
1643	-0.86	-145.9	2306	3592	3963	3979	235.3	-11.8	173	1649	0.00	2.35	0.00	0.000	1158	0.000	0.055	2305	2200	3970	3962	3979	0	0	0	0	0	0	14.31	14.23	14.34
1948	-0.86	-145.9	2306	2200	3963	3978	272.0	-11.8	184	1953	0.00	2.45	0.00	0.000	260	0.000	0.089	2297	3592	3969	3962	3977	0	0	0	0	0	0	14.55	14.16	14.57
2053	-0.92	-145.9	2298	3594	3962	3978	284.1	-11.2	205	2058	0.00	2.35	0.00	0.000	1158	0.000	0.057	2297	2200	3969	3962	3977	0	0	0	0	0	0	14.35	14.25	14.38
2368	-0.92	-145.9	2298	2200	3962	3975	321.5	-11.7	218	2373	0.00	2.45	0.00	0.000	260	0.000	0.089	2293	3596	3967	3960	3975	0	0	0	0	0	0	14.56	14.19	14.58
2433	-0.99	-145.9	2294	3598	3962	3974	328.8	-10.7	231	2439	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2193	3968	3961	3975	0	0	0	0	0	0	14.31	14.19	14.34
2759	-0.99	-145.9	2294	2192	3962	3974	366.0	-11.4	246	2764	0.00	2.45	0.00	0.000	260	0.000	0.088	2286	3589	3967	3961	3973	0	0	0	0	0	0	14.57	14.21	14.58
2844	-1.06	-145.9	2287	3592	3961	3976	375.5	-10.8	263	2851	0.15	2.35	0.00	0.000	5254	0.125	0.056	2234	2193	3967	3960	3974	0	0	0	0	0	0	14.23	14.22	14.33
3150	-0.95	-145.9	2234	2193	3961	3973	425.1	-16.6	274	3155	0.12	2.45	0.00	0.000	2436	0.318	0.083	2251	3594	3966	3960	3973	0	0	0	0	0	0	13.94	14.21	14.11
3285	-0.92	-145.9	2252	3594	3960	3973	444.8	-13.9	301	3290	0.12	2.35	0.00	0.000	3206	0.281	0.056	2274	2198	3966	3959	3973	0	0	0	0	0	0	13.99	14.24	14.26
3568	end dive: TARGET_DEPTH_EXCEEDED
state	3568	begin apogee
3574	-0.13	0.0	2275	2070	3960	3972	481.0	-12.5	313	3802	1.00	0.00	225.00	1.385	10246	0.249	0.000	2529	2069	3365	3395	3336	0	0	0	0	0	0	13.95	13.48	12.81
3806	end apogee: CONTROL_FINISHED_OK
state	3806	begin climb
3808	0.57	145.9	2529	2070	3388	3325	491.3	0.0	320	4018	0.75	2.67	201.98	1.352	10500	0.068	0.073	2781	3491	2763	2817	2709	0	0	0	0	0	0	13.56	13.08	12.56
4245	0.15	145.9	2781	3491	2787	2707	455.5	17.4	366	4250	0.75	2.38	0.00	0.000	5254	0.346	0.057	2637	2129	2746	2786	2707	0	0	0	0	0	0	13.46	13.77	13.80
4556	0.09	176.3	2637	2127	2787	2705	427.1	8.6	378	4600	0.00	0.00	40.55	1.403	8614	0.000	0.000	2637	2128	2641	2691	2592	0	0	0	0	0	0	14.31	13.70	13.15
4917	0.04	191.7	2638	2126	2681	2576	393.8	9.3	400	4938	0.17	0.00	19.20	1.489	12454	0.272	0.000	2599	2127	2582	2641	2524	0	0	0	0	0	0	13.90	14.04	13.28
5217	0.13	255.7	2600	2128	2631	2504	372.3	7.0	410	5325	0.00	2.62	100.80	1.330	8868	0.000	0.085	2603	691	2317	2374	2260	0	0	0	0	0	0	14.35	13.71	13.07
5360	0.33	314.0	2603	691	2363	2254	361.9	7.3	439	5462	0.25	2.53	90.97	1.284	11430	0.086	0.079	2693	2087	2078	2134	2022	0	0	0	0	0	0	13.78	13.74	12.87
5756	0.28	314.0	2694	2087	2121	2007	307.8	14.0	468	5760	0.00	2.50	0.00	0.000	644	0.000	0.086	2698	696	2063	2120	2006	0	0	0	0	0	0	14.11	13.83	14.12
5786	0.25	314.0	2699	696	2118	2007	303.5	14.2	474	5791	0.15	2.53	0.00	0.000	5254	0.226	0.077	2666	2108	2063	2116	2011	0	0	0	0	0	0	13.77	13.88	13.97
6116	0.28	314.0	2667	2115	2118	2005	265.4	11.3	490	6121	0.00	2.53	0.00	0.000	644	0.000	0.087	2671	693	2060	2117	2004	0	0	0	0	0	0	14.30	14.02	14.32
6161	0.34	314.0	2672	693	2116	2005	260.4	11.0	499	6166	0.00	2.50	0.00	0.000	1158	0.000	0.078	2674	2111	2059	2115	2004	0	0	0	0	0	0	14.16	14.05	14.19
6476	0.37	314.0	2672	2113	2113	2005	225.9	10.7	512	6481	0.00	2.53	0.00	0.000	644	0.000	0.087	2672	689	2059	2114	2004	0	0	0	0	0	0	14.35	14.04	14.38
6501	0.42	314.0	2673	691	2114	2004	223.3	10.1	517	6509	0.15	2.50	0.00	0.000	3206	0.129	0.079	2734	2103	2058	2113	2004	0	0	0	0	0	0	14.12	14.06	14.22
6806	0.32	314.0	2736	2104	2114	2004	182.1	13.0	528	6811	0.17	2.47	0.00	0.000	4740	0.236	0.082	2699	694	2058	2113	2003	0	0	0	0	0	0	13.94	14.09	14.08
6882	0.39	331.1	2699	695	2112	2005	174.6	9.2	543	6908	0.00	2.47	19.73	1.393	9382	0.000	0.077	2699	2109	2012	2065	1960	0	0	0	0	0	0	14.22	14.11	13.35
7230	0.40	346.0	2699	2109	2056	1956	141.7	9.3	562	7259	0.00	2.55	21.48	1.396	8740	0.000	0.085	2700	703	1950	2000	1900	0	0	0	0	0	0	14.35	13.98	13.31
7311	0.51	376.6	2699	703	1997	1900	134.5	8.6	578	7370	0.15	2.47	51.42	1.275	11430	0.120	0.077	2763	2105	1828	1862	1795	0	0	0	0	0	0	14.06	14.01	13.17
7671	0.46	376.6	2763	2107	1855	1784	87.3	12.5	607	7676	0.12	2.47	0.00	0.000	4740	0.269	0.082	2742	691	1819	1855	1783	0	0	0	0	0	0	13.74	13.94	13.88
7718	0.51	377.4	2744	691	1851	1783	82.3	10.0	616	7724	0.00	2.50	0.00	0.000	1190	0.000	0.077	2742	2103	1817	1852	1783	0	0	0	0	0	0	14.02	13.91	14.04
8021	0.53	410.0	2743	2104	1853	1781	54.1	8.5	647	8044	0.00	2.47	17.02	0.369	8484	0.000	0.082	2739	3511	1690	1722	1659	0	0	0	0	0	0	14.40	13.99	13.75
8154	0.62	460.3	2743	3511	1723	1660	42.9	7.7	673	8187	0.00	2.42	27.35	0.330	9382	0.000	0.065	2750	2102	1486	1528	1444	0	0	0	0	0	0	14.14	14.04	13.78
8484	0.79	547.2	2746	2104	1528	1434	22.8	6.0	709	8538	0.22	2.50	46.05	0.271	10916	0.103	0.090	2850	691	1131	1198	1064	0	0	0	0	0	0	14.16	14.06	13.83
8763	0.96	712.2	2851	690	1195	1054	9.3	2.4	764	8853	0.12	2.47	82.80	0.228	11430	0.132	0.078	2896	2108	499	533	465	0	0	0	0	0	0	14.09	14.04	13.92
8878	end climb: SURFACE_DEPTH_REACHED
state	8878	begin surface coast
8886	end surface coast: CONTROL_FINISHED_OK
state	8886	begin surface