Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 81 * 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 81 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 235.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 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 235.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 25 VBD_MIN 500

DIVE 81 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 160817,023156,7223.8125,-14817.1641,16,0.7,38,21.2,0.6,257.6,11,6.7 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 329.1,102921,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 160817,025134,7223.7285,-14817.4590,7,0.7,9,21.2,0.0,0.0,11,9.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170816042140.286658,3,31,14,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 56990848

FINISH 1.2,1.020180 _24V_AH 12.52,80.973

SM_CCo 9104,0.00,0.000,0,0,492,704.01 _10V_AH 12.45,0.000

SM_GC 0.99,8.62,0.17,0.00,0.108,0.110,0.000,205,2226,492,-7.39,-0.68,704.01,0,0,0,0,0,0,14.16,14.19,14.25 FG_AHR_24Vo 0.000

RAFOS_CLK 223 FG_AHR_10Vo 0.000

MODEM 2,1502856750,73.18300,-149.96500,3.405,4938.8 MEM 323656

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 DATA_FILE_SIZE 30054,891

IRIDIUM_FIX 7225.39,-14807.22,160817,024609 CAP_FILE_SIZE 113082,0

TT8_MAMPS 0.039697,0.887565 CFSIZE 2097872896,2063892480

HUMID 48.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1451.7

TCM_TEMP 13.40 CURRENT 0.073,250.94,1

XPDR_PINGS 11 GPS 160817,052502,7224.704,-14818.304,22,0.7,23,21.2,0.0,52.3,12,10.0

CP_FREE 16005693440.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 146.67 nil 0 0 0.00

Roll_motor 89 2142 2400.87 nil 0 0 0.00

VBD_pump_during_apogee 912 1562 17850.89 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 9007 14 1632.65

Iridium_during_xfer 730 180 1651.02 NCP 9053 20 2266.87

Transponder_ping 2 420 14.46 PMAR 9000 16 1871.84

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.79

TT8 0 0 0.00

LPSleep 6521 2 187.56

TT8_Active 879 13 153.03

TT8_Sampling 2585 33 1076.28

TT8_CF8 312 38 150.32

TT8_Kalman 0 0 0.00

Analog_circuits 2444 10 304.33

GPS_charging 0 0 0.00

Compass 1274 7 111.09

RAFOS 2218 48 1325.48

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 -145.9 170 2228 511 455 0.0 0.0 0 129 0.00 0.00 -81.68 0.000 16386 0.000 0.000 166 2228 2124 2045 2204 0 0 0 0 0 0 14.44 28.83 14.43

132 -0.57 -145.9 167 2229 2048 2205 3.8 -5.9 8 185 12.73 2.78 -33.10 0.000 18980 0.457 2.142 2384 793 3966 3954 3978 0 0 0 0 0 0 13.72 12.72 14.14

275 -0.57 -145.9 2384 794 3959 3978 41.0 -17.0 36 280 0.00 2.47 0.00 0.000 1030 0.000 0.088 2377 2182 3968 3960 3976 0 0 0 0 0 0 14.12 14.00 14.16

585 -0.57 -145.9 2378 2185 3963 3978 93.3 -13.9 68 590 0.00 2.55 0.00 0.000 260 0.000 0.090 2376 3618 3970 3963 3977 0 0 0 0 0 0 14.45 14.08 14.46

800 -0.69 -145.9 2376 3621 3964 3978 117.9 -10.6 111 806 0.00 2.40 0.00 0.000 1158 0.000 0.054 2375 2198 3970 3963 3977 0 0 0 0 0 0 14.19 14.09 14.21

1126 -0.77 -145.9 2376 2196 3964 3978 154.2 -10.8 126 1131 0.12 2.50 0.00 0.000 4484 0.144 0.085 2319 3614 3970 3963 3977 0 0 0 0 0 0 14.24 14.18 14.29

1228 -0.83 -145.9 2319 3618 3964 3978 167.7 -13.1 146 1232 0.00 2.38 0.00 0.000 1158 0.000 0.054 2319 2199 3968 3959 3977 0 0 0 0 0 0 14.34 14.23 14.37

1548 -0.83 -145.9 2319 2198 3963 3978 212.6 -13.0 160 1553 0.00 2.50 0.00 0.000 260 0.000 0.088 2311 3617 3969 3962 3977 0 0 0 0 0 0 14.52 14.16 14.54

1670 -0.90 -145.9 2311 3621 3961 3977 227.0 -11.1 184 1674 0.00 2.40 0.00 0.000 1158 0.000 0.054 2311 2192 3969 3961 3977 0 0 0 0 0 0 14.31 14.20 14.34

2000 -0.92 -145.9 2314 2192 3962 3977 266.2 -11.5 200 2004 0.00 2.50 0.00 0.000 388 0.000 0.089 2307 3614 3967 3961 3974 0 0 0 0 0 0 14.55 14.19 14.55

2131 -1.02 -145.9 2308 3615 3960 3974 280.4 -10.5 226 2137 0.17 2.40 0.00 0.000 5254 0.109 0.055 2243 2193 3967 3961 3974 0 0 0 0 0 0 14.28 14.26 14.37

2452 -0.92 -145.9 2243 2193 3961 3972 333.2 -16.5 240 2457 0.12 2.50 0.00 0.000 2436 0.307 0.083 2260 3618 3965 3960 3970 0 0 0 0 0 0 13.92 14.18 14.10

2632 -0.92 -145.9 2261 3619 3958 3971 358.3 -13.3 276 2637 0.00 2.40 0.00 0.000 1030 0.000 0.056 2268 2190 3965 3959 3971 0 0 0 0 0 0 14.25 14.20 14.28

2962 -0.88 -145.9 2260 2190 3960 3970 404.8 -14.1 292 2967 0.12 2.50 0.00 0.000 2436 0.319 0.083 2280 3615 3964 3959 3970 0 0 0 0 0 0 13.90 14.16 14.09

3103 -0.93 -145.9 2280 3615 3961 3971 421.0 -11.0 320 3108 0.00 2.38 0.00 0.000 1158 0.000 0.054 2280 2199 3964 3958 3970 0 0 0 0 0 0 14.35 14.23 14.37

3413 -0.93 -145.9 2283 2194 3967 3969 457.9 -12.1 332 3418 0.00 2.47 0.00 0.000 260 0.000 0.087 2274 3614 3963 3958 3968 0 0 0 0 0 0 14.57 14.16 14.58

3513 -0.98 -145.9 2273 3615 3958 3968 469.7 -11.4 352 3518 0.00 2.38 0.00 0.000 1158 0.000 0.054 2275 2198 3962 3957 3968 0 0 0 0 0 0 14.35 14.23 14.38

3620 end dive: TARGET_DEPTH_EXCEEDED

state 3620 begin apogee

3626 -0.13 0.0 2274 2069 3957 3969 483.2 -12.4 359 3835 1.00 0.08 203.43 1.458 10246 0.238 0.179 2529 2114 3364 3394 3334 0 0 0 0 0 0 13.97 13.45 12.81

3884 end apogee: CONTROL_FINISHED_OK

state 3884 begin climb

3886 0.57 145.9 2530 2115 3393 3330 493.2 0.0 366 4093 0.73 2.65 197.73 1.398 10500 0.066 0.073 2779 3505 2764 2817 2712 0 0 0 0 0 0 13.69 13.05 12.52

4318 0.15 145.9 2778 3504 2796 2711 460.5 16.9 463 4324 0.73 2.42 0.00 0.000 5254 0.346 0.056 2639 2124 2753 2796 2711 0 0 0 0 0 0 13.40 13.69 13.73

4644 0.08 172.9 2639 2124 2797 2710 430.3 8.8 478 4685 0.12 2.50 34.53 1.470 12708 0.295 0.081 2610 3508 2657 2704 2610 0 0 0 0 0 0 13.69 13.81 13.09

4906 0.06 194.8 2611 3513 2696 2605 407.1 9.0 530 4941 0.00 2.42 30.40 1.491 9382 0.000 0.059 2619 2096 2570 2623 2517 0 0 0 0 0 0 14.08 13.99 13.12

5246 0.09 231.4 2616 2100 2619 2502 378.7 8.3 548 5308 0.00 2.55 52.35 1.424 8740 0.000 0.086 2616 701 2415 2471 2360 0 0 0 0 0 0 14.27 13.77 13.12

5383 0.20 268.5 2616 702 2468 2360 367.4 8.3 575 5444 0.00 2.47 54.80 1.381 9382 0.000 0.077 2616 2095 2270 2326 2214 0 0 0 0 0 0 13.99 13.88 13.00

5759 0.30 306.5 2616 2093 2318 2199 336.1 8.2 600 5820 0.20 0.00 56.55 1.365 10406 0.097 0.000 2693 2094 2110 2165 2056 0 0 0 0 0 0 14.02 13.76 13.07

6119 0.26 306.5 2693 2091 2157 2045 286.8 13.8 612 6124 0.00 2.47 0.00 0.000 644 0.000 0.085 2699 695 2100 2156 2045 0 0 0 0 0 0 14.23 13.96 14.23

6189 0.26 306.5 2699 696 2156 2045 277.1 13.4 626 6194 0.15 2.47 0.00 0.000 5126 0.226 0.076 2667 2103 2102 2154 2051 0 0 0 0 0 0 13.90 14.02 14.10

6509 0.28 306.5 2667 2104 2154 2043 241.4 10.9 640 6514 0.00 2.45 0.00 0.000 644 0.000 0.085 2672 695 2098 2154 2043 0 0 0 0 0 0 14.34 14.02 14.36

6545 0.33 306.5 2672 696 2153 2044 237.6 10.6 647 6551 0.00 2.42 0.00 0.000 1158 0.000 0.077 2672 2103 2098 2153 2043 0 0 0 0 0 0 14.19 14.08 14.22

6873 0.34 316.3 2673 2104 2153 2042 205.1 9.5 662 6888 0.00 2.47 9.93 1.563 8740 0.000 0.084 2672 694 2072 2126 2018 0 0 0 0 0 0 14.50 13.95 13.33

6928 0.45 345.8 2673 694 2122 2018 200.1 8.6 673 6984 0.17 2.45 48.33 1.332 11430 0.112 0.076 2747 2101 1952 1999 1906 0 0 0 0 0 0 14.19 14.14 13.24

7294 0.36 345.8 2746 2102 1994 1898 150.4 13.3 696 7299 0.17 2.47 0.00 0.000 4740 0.236 0.081 2712 687 1945 1993 1897 0 0 0 0 0 0 13.97 14.12 14.12

7330 0.41 345.8 2712 687 1991 1897 146.5 10.2 703 7336 0.00 2.47 0.00 0.000 1158 0.000 0.077 2712 2105 1943 1990 1897 0 0 0 0 0 0 14.26 14.15 14.29

7656 0.42 362.4 2713 2105 1989 1894 115.1 9.2 718 7681 0.00 2.50 18.77 1.397 8740 0.000 0.086 2711 688 1884 1924 1844 0 0 0 0 0 0 14.49 14.16 13.41

7726 0.54 389.8 2713 689 1919 1844 108.9 8.7 732 7778 0.12 2.45 42.75 1.281 11430 0.131 0.077 2768 2124 1773 1804 1742 0 0 0 0 0 0 14.09 14.04 13.28

8076 0.50 389.8 2768 2124 1800 1732 65.1 11.5 770 8081 0.00 2.53 0.00 0.000 644 0.000 0.086 2769 693 1764 1795 1733 0 0 0 0 0 0 14.37 14.01 14.39

8166 0.51 411.9 2769 694 1795 1734 56.2 9.0 788 8182 0.00 2.47 10.85 0.373 9254 0.000 0.079 2769 2105 1684 1714 1654 0 0 0 0 0 0 14.16 14.04 13.76

8487 0.57 496.6 2769 2105 1717 1652 32.3 6.1 822 8538 0.00 0.00 44.70 0.298 8230 0.000 0.000 2769 2105 1337 1391 1284 0 0 0 0 0 0 14.45 14.15 13.87

8837 0.96 720.6 2769 2105 1392 1272 14.2 -0.3 857 8953 0.35 2.50 107.18 0.249 10660 0.086 0.080 2900 3518 494 529 460 0 0 0 0 0 0 14.19 13.97 13.88

8995 0.96 720.6 2900 3520 531 460 4.1 11.3 887 9001 0.00 2.45 0.00 0.000 1030 0.000 0.068 2904 2104 494 529 460 0 0 0 0 0 0 14.16 14.07 14.19

9013 end climb: SURFACE_DEPTH_REACHED

state 9013 begin surface coast

9024 end surface coast: CONTROL_FINISHED_OK

state 9024 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	81	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	235.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,023156,7223.8125,-14817.1641,16,0.7,38,21.2,0.6,257.6,11,6.7	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	329.1,102921,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	160817,025134,7223.7285,-14817.4590,7,0.7,9,21.2,0.0,0.0,11,9.5

MODEM_MSG	CACST,6,1,20170816042140.286658,3,31,14,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	56990848
FINISH	1.2,1.020180	_24V_AH	12.52,80.973
SM_CCo	9104,0.00,0.000,0,0,492,704.01	_10V_AH	12.45,0.000
SM_GC	0.99,8.62,0.17,0.00,0.108,0.110,0.000,205,2226,492,-7.39,-0.68,704.01,0,0,0,0,0,0,14.16,14.19,14.25	FG_AHR_24Vo	0.000
RAFOS_CLK	223	FG_AHR_10Vo	0.000
MODEM	2,1502856750,73.18300,-149.96500,3.405,4938.8	MEM	323656
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	DATA_FILE_SIZE	30054,891
IRIDIUM_FIX	7225.39,-14807.22,160817,024609	CAP_FILE_SIZE	113082,0
TT8_MAMPS	0.039697,0.887565	CFSIZE	2097872896,2063892480
HUMID	48.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1451.7
TCM_TEMP	13.40	CURRENT	0.073,250.94,1
XPDR_PINGS	11	GPS	160817,052502,7224.704,-14818.304,22,0.7,23,21.2,0.0,52.3,12,10.0
CP_FREE	16005693440.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	146.67	nil	0	0	0.00
Roll_motor	89	2142	2400.87	nil	0	0	0.00
VBD_pump_during_apogee	912	1562	17850.89	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	9007	14	1632.65
Iridium_during_xfer	730	180	1651.02	NCP	9053	20	2266.87
Transponder_ping	2	420	14.46	PMAR	9000	16	1871.84
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.79
TT8	0	0	0.00
LPSleep	6521	2	187.56
TT8_Active	879	13	153.03
TT8_Sampling	2585	33	1076.28
TT8_CF8	312	38	150.32
TT8_Kalman	0	0	0.00
Analog_circuits	2444	10	304.33
GPS_charging	0	0	0.00
Compass	1274	7	111.09
RAFOS	2218	48	1325.48
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	170	2228	511	455	0.0	0.0	0	129	0.00	0.00	-81.68	0.000	16386	0.000	0.000	166	2228	2124	2045	2204	0	0	0	0	0	0	14.44	28.83	14.43
132	-0.57	-145.9	167	2229	2048	2205	3.8	-5.9	8	185	12.73	2.78	-33.10	0.000	18980	0.457	2.142	2384	793	3966	3954	3978	0	0	0	0	0	0	13.72	12.72	14.14
275	-0.57	-145.9	2384	794	3959	3978	41.0	-17.0	36	280	0.00	2.47	0.00	0.000	1030	0.000	0.088	2377	2182	3968	3960	3976	0	0	0	0	0	0	14.12	14.00	14.16
585	-0.57	-145.9	2378	2185	3963	3978	93.3	-13.9	68	590	0.00	2.55	0.00	0.000	260	0.000	0.090	2376	3618	3970	3963	3977	0	0	0	0	0	0	14.45	14.08	14.46
800	-0.69	-145.9	2376	3621	3964	3978	117.9	-10.6	111	806	0.00	2.40	0.00	0.000	1158	0.000	0.054	2375	2198	3970	3963	3977	0	0	0	0	0	0	14.19	14.09	14.21
1126	-0.77	-145.9	2376	2196	3964	3978	154.2	-10.8	126	1131	0.12	2.50	0.00	0.000	4484	0.144	0.085	2319	3614	3970	3963	3977	0	0	0	0	0	0	14.24	14.18	14.29
1228	-0.83	-145.9	2319	3618	3964	3978	167.7	-13.1	146	1232	0.00	2.38	0.00	0.000	1158	0.000	0.054	2319	2199	3968	3959	3977	0	0	0	0	0	0	14.34	14.23	14.37
1548	-0.83	-145.9	2319	2198	3963	3978	212.6	-13.0	160	1553	0.00	2.50	0.00	0.000	260	0.000	0.088	2311	3617	3969	3962	3977	0	0	0	0	0	0	14.52	14.16	14.54
1670	-0.90	-145.9	2311	3621	3961	3977	227.0	-11.1	184	1674	0.00	2.40	0.00	0.000	1158	0.000	0.054	2311	2192	3969	3961	3977	0	0	0	0	0	0	14.31	14.20	14.34
2000	-0.92	-145.9	2314	2192	3962	3977	266.2	-11.5	200	2004	0.00	2.50	0.00	0.000	388	0.000	0.089	2307	3614	3967	3961	3974	0	0	0	0	0	0	14.55	14.19	14.55
2131	-1.02	-145.9	2308	3615	3960	3974	280.4	-10.5	226	2137	0.17	2.40	0.00	0.000	5254	0.109	0.055	2243	2193	3967	3961	3974	0	0	0	0	0	0	14.28	14.26	14.37
2452	-0.92	-145.9	2243	2193	3961	3972	333.2	-16.5	240	2457	0.12	2.50	0.00	0.000	2436	0.307	0.083	2260	3618	3965	3960	3970	0	0	0	0	0	0	13.92	14.18	14.10
2632	-0.92	-145.9	2261	3619	3958	3971	358.3	-13.3	276	2637	0.00	2.40	0.00	0.000	1030	0.000	0.056	2268	2190	3965	3959	3971	0	0	0	0	0	0	14.25	14.20	14.28
2962	-0.88	-145.9	2260	2190	3960	3970	404.8	-14.1	292	2967	0.12	2.50	0.00	0.000	2436	0.319	0.083	2280	3615	3964	3959	3970	0	0	0	0	0	0	13.90	14.16	14.09
3103	-0.93	-145.9	2280	3615	3961	3971	421.0	-11.0	320	3108	0.00	2.38	0.00	0.000	1158	0.000	0.054	2280	2199	3964	3958	3970	0	0	0	0	0	0	14.35	14.23	14.37
3413	-0.93	-145.9	2283	2194	3967	3969	457.9	-12.1	332	3418	0.00	2.47	0.00	0.000	260	0.000	0.087	2274	3614	3963	3958	3968	0	0	0	0	0	0	14.57	14.16	14.58
3513	-0.98	-145.9	2273	3615	3958	3968	469.7	-11.4	352	3518	0.00	2.38	0.00	0.000	1158	0.000	0.054	2275	2198	3962	3957	3968	0	0	0	0	0	0	14.35	14.23	14.38
3620	end dive: TARGET_DEPTH_EXCEEDED
state	3620	begin apogee
3626	-0.13	0.0	2274	2069	3957	3969	483.2	-12.4	359	3835	1.00	0.08	203.43	1.458	10246	0.238	0.179	2529	2114	3364	3394	3334	0	0	0	0	0	0	13.97	13.45	12.81
3884	end apogee: CONTROL_FINISHED_OK
state	3884	begin climb
3886	0.57	145.9	2530	2115	3393	3330	493.2	0.0	366	4093	0.73	2.65	197.73	1.398	10500	0.066	0.073	2779	3505	2764	2817	2712	0	0	0	0	0	0	13.69	13.05	12.52
4318	0.15	145.9	2778	3504	2796	2711	460.5	16.9	463	4324	0.73	2.42	0.00	0.000	5254	0.346	0.056	2639	2124	2753	2796	2711	0	0	0	0	0	0	13.40	13.69	13.73
4644	0.08	172.9	2639	2124	2797	2710	430.3	8.8	478	4685	0.12	2.50	34.53	1.470	12708	0.295	0.081	2610	3508	2657	2704	2610	0	0	0	0	0	0	13.69	13.81	13.09
4906	0.06	194.8	2611	3513	2696	2605	407.1	9.0	530	4941	0.00	2.42	30.40	1.491	9382	0.000	0.059	2619	2096	2570	2623	2517	0	0	0	0	0	0	14.08	13.99	13.12
5246	0.09	231.4	2616	2100	2619	2502	378.7	8.3	548	5308	0.00	2.55	52.35	1.424	8740	0.000	0.086	2616	701	2415	2471	2360	0	0	0	0	0	0	14.27	13.77	13.12
5383	0.20	268.5	2616	702	2468	2360	367.4	8.3	575	5444	0.00	2.47	54.80	1.381	9382	0.000	0.077	2616	2095	2270	2326	2214	0	0	0	0	0	0	13.99	13.88	13.00
5759	0.30	306.5	2616	2093	2318	2199	336.1	8.2	600	5820	0.20	0.00	56.55	1.365	10406	0.097	0.000	2693	2094	2110	2165	2056	0	0	0	0	0	0	14.02	13.76	13.07
6119	0.26	306.5	2693	2091	2157	2045	286.8	13.8	612	6124	0.00	2.47	0.00	0.000	644	0.000	0.085	2699	695	2100	2156	2045	0	0	0	0	0	0	14.23	13.96	14.23
6189	0.26	306.5	2699	696	2156	2045	277.1	13.4	626	6194	0.15	2.47	0.00	0.000	5126	0.226	0.076	2667	2103	2102	2154	2051	0	0	0	0	0	0	13.90	14.02	14.10
6509	0.28	306.5	2667	2104	2154	2043	241.4	10.9	640	6514	0.00	2.45	0.00	0.000	644	0.000	0.085	2672	695	2098	2154	2043	0	0	0	0	0	0	14.34	14.02	14.36
6545	0.33	306.5	2672	696	2153	2044	237.6	10.6	647	6551	0.00	2.42	0.00	0.000	1158	0.000	0.077	2672	2103	2098	2153	2043	0	0	0	0	0	0	14.19	14.08	14.22
6873	0.34	316.3	2673	2104	2153	2042	205.1	9.5	662	6888	0.00	2.47	9.93	1.563	8740	0.000	0.084	2672	694	2072	2126	2018	0	0	0	0	0	0	14.50	13.95	13.33
6928	0.45	345.8	2673	694	2122	2018	200.1	8.6	673	6984	0.17	2.45	48.33	1.332	11430	0.112	0.076	2747	2101	1952	1999	1906	0	0	0	0	0	0	14.19	14.14	13.24
7294	0.36	345.8	2746	2102	1994	1898	150.4	13.3	696	7299	0.17	2.47	0.00	0.000	4740	0.236	0.081	2712	687	1945	1993	1897	0	0	0	0	0	0	13.97	14.12	14.12
7330	0.41	345.8	2712	687	1991	1897	146.5	10.2	703	7336	0.00	2.47	0.00	0.000	1158	0.000	0.077	2712	2105	1943	1990	1897	0	0	0	0	0	0	14.26	14.15	14.29
7656	0.42	362.4	2713	2105	1989	1894	115.1	9.2	718	7681	0.00	2.50	18.77	1.397	8740	0.000	0.086	2711	688	1884	1924	1844	0	0	0	0	0	0	14.49	14.16	13.41
7726	0.54	389.8	2713	689	1919	1844	108.9	8.7	732	7778	0.12	2.45	42.75	1.281	11430	0.131	0.077	2768	2124	1773	1804	1742	0	0	0	0	0	0	14.09	14.04	13.28
8076	0.50	389.8	2768	2124	1800	1732	65.1	11.5	770	8081	0.00	2.53	0.00	0.000	644	0.000	0.086	2769	693	1764	1795	1733	0	0	0	0	0	0	14.37	14.01	14.39
8166	0.51	411.9	2769	694	1795	1734	56.2	9.0	788	8182	0.00	2.47	10.85	0.373	9254	0.000	0.079	2769	2105	1684	1714	1654	0	0	0	0	0	0	14.16	14.04	13.76
8487	0.57	496.6	2769	2105	1717	1652	32.3	6.1	822	8538	0.00	0.00	44.70	0.298	8230	0.000	0.000	2769	2105	1337	1391	1284	0	0	0	0	0	0	14.45	14.15	13.87
8837	0.96	720.6	2769	2105	1392	1272	14.2	-0.3	857	8953	0.35	2.50	107.18	0.249	10660	0.086	0.080	2900	3518	494	529	460	0	0	0	0	0	0	14.19	13.97	13.88
8995	0.96	720.6	2900	3520	531	460	4.1	11.3	887	9001	0.00	2.45	0.00	0.000	1030	0.000	0.068	2904	2104	494	529	460	0	0	0	0	0	0	14.16	14.07	14.19
9013	end climb: SURFACE_DEPTH_REACHED
state	9013	begin surface coast
9024	end surface coast: CONTROL_FINISHED_OK
state	9024	begin surface