Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 84 * 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 84 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 242.0

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 43 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 242.0 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 84 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 160817,110557,7226.5391,-14819.7910,55,0.7,56,21.2,0.0,0.0,11,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.06 MHEAD_RNG_PITCHd_Wd 319.8,98015,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 160817,111705,7226.4585,-14819.6387,6,0.8,9,21.2,0.0,239.6,10,9.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170816121333.161120,3,225,11,0330,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08 PM_FREEKB_00 56765952

FINISH 0.2,1.020131 _24V_AH 12.52,82.385

SM_CCo 9019,0.00,0.000,0,0,496,703.77 _10V_AH 12.52,0.000

SM_GC 1.09,8.35,2.67,0.00,0.085,0.067,0.000,202,2201,496,-7.37,-0.74,703.77,0,0,0,0,0,0,14.19,14.14,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 283 FG_AHR_10Vo 0.000

MODEM 2,1502885613,73.18300,-149.96500,66.161,96030.7 MEM 323704

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 DATA_FILE_SIZE 30004,873

IRIDIUM_FIX 7226.19,-14838.96,160817,082215 CAP_FILE_SIZE 107530,0

TT8_MAMPS 0.039697,0.89131 CFSIZE 2097872896,2062942208

HUMID 48.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1451.2

TCM_TEMP 13.60 CURRENT 0.092,230.01,1

XPDR_PINGS 15 GPS 160817,134858,7227.262,-14821.021,16,0.7,17,21.2,0.5,202.9,12,9.9

CP_FREE 16005103616.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.47 nil 0 0 0.00

Roll_motor 90 2142 2419.64 nil 0 0 0.00

VBD_pump_during_apogee 942 1392 16434.07 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 8964 14 1651.90

Iridium_during_xfer 395 186 924.45 NCP 8964 20 2244.59

Transponder_ping 3 420 19.72 PMAR 8912 16 1855.66

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.09

TT8 0 0 0.00

LPSleep 6284 2 181.75

TT8_Active 923 13 161.55

TT8_Sampling 2199 33 920.70

TT8_CF8 292 38 141.51

TT8_Kalman 0 0 0.00

Analog_circuits 2125 10 266.15

GPS_charging 0 0 0.00

Compass 1249 7 109.47

RAFOS 2209 48 1327.52

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 -145.9 178 2229 508 463 0.0 0.0 0 129 0.00 0.00 -81.62 0.000 16386 0.000 0.000 176 2228 2033 1954 2113 0 0 0 0 0 0 14.36 28.83 14.38

132 -0.57 -145.9 178 2228 1957 2115 3.1 -3.7 8 189 12.68 2.85 -37.62 0.000 18980 0.455 2.142 2385 770 3964 3950 3979 0 0 0 0 0 0 13.70 12.65 14.10

294 -0.57 -145.9 2386 770 3958 3979 40.8 -17.6 40 299 0.00 2.50 0.00 0.000 1030 0.000 0.087 2379 2176 3968 3957 3979 0 0 0 0 0 0 14.09 13.99 14.15

604 -0.57 -145.9 2379 2177 3962 3979 92.2 -14.1 72 609 0.00 2.55 0.00 0.000 260 0.000 0.091 2375 3614 3970 3961 3979 0 0 0 0 0 0 14.45 14.00 14.46

829 -0.70 -145.9 2375 3615 3961 3980 117.9 -10.7 117 834 0.00 2.42 0.00 0.000 1158 0.000 0.054 2375 2181 3970 3960 3980 0 0 0 0 0 0 14.22 14.12 14.25

1145 -0.78 -145.9 2375 2181 3961 3978 152.3 -10.6 130 1150 0.15 2.53 0.00 0.000 4484 0.131 0.086 2306 3616 3969 3961 3978 0 0 0 0 0 0 14.25 14.20 14.30

1275 -0.82 -145.9 2306 3616 3962 3979 170.9 -13.8 156 1280 0.00 2.40 0.00 0.000 1158 0.000 0.055 2306 2194 3969 3960 3979 0 0 0 0 0 0 14.26 14.17 14.32

1595 -0.79 -145.9 2306 2193 3962 3977 219.5 -14.3 170 1600 0.00 2.50 0.00 0.000 388 0.000 0.087 2297 3617 3968 3960 3976 0 0 0 0 0 0 14.55 14.12 14.57

1775 -0.83 -145.9 2297 3618 3961 3977 242.7 -12.0 206 1779 0.00 2.40 0.00 0.000 1158 0.000 0.055 2296 2192 3968 3961 3976 0 0 0 0 0 0 14.36 14.26 14.41

2105 -0.83 -145.9 2296 2191 3962 3973 284.3 -12.3 222 2109 0.00 2.50 0.00 0.000 260 0.000 0.088 2287 3617 3966 3960 3973 0 0 0 0 0 0 14.57 14.21 14.58

2250 -0.89 -145.9 2287 3620 3960 3974 301.3 -11.2 251 2257 0.00 2.40 0.00 0.000 1158 0.000 0.055 2287 2193 3965 3958 3972 0 0 0 0 0 0 14.34 14.23 14.37

2555 -0.89 -145.9 2287 2192 3962 3970 338.6 -12.3 262 2559 0.00 2.50 0.00 0.000 260 0.000 0.088 2280 3612 3965 3960 3970 0 0 0 0 0 0 14.50 14.13 14.48

2660 -0.93 -145.9 2280 3614 3961 3971 351.2 -11.6 283 2665 0.00 2.40 0.00 0.000 1158 0.000 0.054 2283 2190 3964 3960 3969 0 0 0 0 0 0 14.27 14.17 14.28

2976 -0.93 -145.9 2280 2190 3961 3970 390.1 -12.2 296 2980 0.00 2.53 0.00 0.000 260 0.000 0.087 2273 3616 3964 3960 3969 0 0 0 0 0 0 14.42 14.08 14.43

3087 -0.97 -145.9 2273 3617 3961 3969 403.3 -11.8 318 3092 0.00 2.40 0.00 0.000 1158 0.000 0.054 2273 2199 3964 3960 3968 0 0 0 0 0 0 14.23 14.13 14.26

3397 -0.97 -145.9 2273 2198 3961 3967 442.0 -12.4 330 3402 0.00 2.53 0.00 0.000 260 0.000 0.088 2267 3616 3963 3960 3967 0 0 0 0 0 0 14.38 14.02 14.40

3524 -1.00 -145.9 2267 3617 3961 3967 457.4 -12.1 355 3530 0.00 2.42 0.00 0.000 1158 0.000 0.054 2267 2190 3963 3960 3967 0 0 0 0 0 0 14.11 14.00 14.13

3697 end dive: TARGET_DEPTH_EXCEEDED

state 3697 begin apogee

3703 -0.13 0.0 2268 2066 3968 3965 480.2 -12.9 365 3929 1.05 0.08 222.10 1.392 10246 0.244 0.179 2530 2111 3365 3406 3324 0 0 0 0 0 0 13.83 13.33 12.72

3933 end apogee: CONTROL_FINISHED_OK

state 3933 begin climb

3938 0.57 145.9 2531 2112 3398 3313 490.4 0.0 372 4154 0.75 2.67 202.70 1.353 10500 0.063 0.075 2782 3498 2756 2813 2700 0 0 0 0 0 0 13.46 13.14 12.52

4379 0.15 145.9 2783 3504 2791 2701 453.8 17.7 455 4386 0.77 2.42 0.00 0.000 5254 0.344 0.056 2635 2123 2743 2787 2699 0 0 0 0 0 0 13.41 13.68 13.71

4685 0.08 178.6 2635 2124 2792 2699 426.2 8.5 466 4737 0.00 2.53 43.00 1.389 8612 0.000 0.080 2632 3497 2627 2682 2573 0 0 0 0 0 0 14.20 13.76 13.09

4868 -0.00 178.6 2636 3497 2673 2566 408.0 10.4 502 4873 0.25 2.38 0.00 0.000 5254 0.247 0.057 2587 2106 2618 2672 2565 0 0 0 0 0 0 13.71 13.91 13.94

5199 0.11 255.1 2587 2106 2672 2563 386.2 6.5 518 5325 0.00 2.60 119.85 1.300 8868 0.000 0.086 2589 687 2319 2380 2258 0 0 0 0 0 0 14.29 13.65 13.02

5383 0.32 318.7 2588 687 2368 2252 373.7 7.1 554 5492 0.30 2.55 100.05 1.282 11430 0.083 0.079 2696 2096 2059 2118 2001 0 0 0 0 0 0 13.78 13.71 12.83

5804 0.28 318.7 2696 2097 2100 1988 312.9 14.7 588 5809 0.00 2.53 0.00 0.000 644 0.000 0.086 2699 690 2043 2100 1987 0 0 0 0 0 0 14.22 13.93 14.23

5864 0.28 318.7 2699 689 2096 1988 304.3 14.0 600 5869 0.00 2.50 0.00 0.000 1030 0.000 0.076 2699 2101 2041 2096 1987 0 0 0 0 0 0 14.11 14.00 14.14

6194 0.23 318.7 2699 2103 2096 1986 257.5 13.9 616 6199 0.15 2.50 0.00 0.000 4740 0.233 0.086 2661 685 2040 2095 1985 0 0 0 0 0 0 14.02 14.14 14.15

6239 0.33 318.7 2662 686 2094 1985 252.5 10.2 625 6245 0.00 2.47 0.00 0.000 1158 0.000 0.078 2662 2109 2037 2090 1985 0 0 0 0 0 0 14.29 14.17 14.33

6556 0.39 329.5 2662 2111 2101 1985 221.3 9.5 638 6566 0.12 2.53 2.33 0.644 10916 0.135 0.084 2725 693 2027 2080 1974 0 0 0 0 0 0 14.21 14.21 12.93

6596 0.34 329.5 2727 693 2083 1979 216.5 12.8 646 6602 0.15 2.45 1.52 0.305 13446 0.252 0.079 2694 2107 2022 2075 1970 0 0 0 0 0 0 14.07 14.23 13.70

6917 0.34 329.5 2695 2107 2086 1979 182.1 10.2 660 6922 0.00 2.55 1.75 0.272 8708 0.000 0.085 2699 687 2021 2074 1968 0 0 0 0 0 0 14.55 14.19 13.91

6952 0.37 329.7 2699 688 2078 1976 178.5 10.0 667 6957 0.00 2.45 0.00 0.000 1190 0.000 0.077 2699 2100 2026 2078 1975 0 0 0 0 0 0 14.33 14.22 14.35

7277 0.38 339.3 2699 2101 2085 1977 146.9 9.6 682 7309 0.00 2.47 25.48 1.362 8740 0.000 0.083 2697 691 1976 2029 1924 0 0 0 0 0 0 14.57 13.99 13.43

7366 0.47 366.4 2699 692 2018 1922 139.0 8.7 699 7420 0.10 2.47 44.78 1.290 11430 0.155 0.076 2747 2103 1870 1908 1832 0 0 0 0 0 0 14.14 14.13 13.28

7720 0.44 366.4 2747 2103 1897 1823 96.6 11.6 723 7721 0.00 0.00 0.00 0.000 134 0.000 0.000 2747 2102 1859 1896 1822 0 0 0 0 0 0 14.39 14.41 14.41

8022 0.45 390.2 2748 2103 1896 1820 65.6 8.9 753 8034 0.00 0.00 11.07 0.391 8230 0.000 0.000 2747 2103 1774 1808 1741 0 0 0 0 0 0 14.45 14.19 13.80

8330 0.55 489.4 2747 2103 1816 1745 43.3 5.4 784 8389 0.00 2.47 53.60 0.331 8612 0.000 0.083 2750 3508 1369 1432 1307 0 0 0 0 0 0 14.46 14.02 13.81

8446 0.72 546.8 2748 3510 1430 1311 35.8 7.4 806 8482 0.17 2.45 31.25 0.305 11430 0.105 0.064 2820 2096 1130 1205 1056 0 0 0 0 0 0 14.15 14.11 13.76

8788 0.95 720.2 2820 2096 1210 1058 11.2 2.0 844 8878 0.17 2.50 83.30 0.236 10916 0.106 0.090 2902 685 496 537 455 0 0 0 0 0 0 14.15 13.97 13.86

8921 end climb: SURFACE_DEPTH_REACHED

state 8921 begin surface coast

8936 end surface coast: CONTROL_FINISHED_OK

state 8936 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	84	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	242.0
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	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,110557,7226.5391,-14819.7910,55,0.7,56,21.2,0.0,0.0,11,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.06	MHEAD_RNG_PITCHd_Wd	319.8,98015,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	160817,111705,7226.4585,-14819.6387,6,0.8,9,21.2,0.0,239.6,10,9.4

MODEM_MSG	CACST,6,1,20170816121333.161120,3,225,11,0330,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08	PM_FREEKB_00	56765952
FINISH	0.2,1.020131	_24V_AH	12.52,82.385
SM_CCo	9019,0.00,0.000,0,0,496,703.77	_10V_AH	12.52,0.000
SM_GC	1.09,8.35,2.67,0.00,0.085,0.067,0.000,202,2201,496,-7.37,-0.74,703.77,0,0,0,0,0,0,14.19,14.14,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	283	FG_AHR_10Vo	0.000
MODEM	2,1502885613,73.18300,-149.96500,66.161,96030.7	MEM	323704
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	DATA_FILE_SIZE	30004,873
IRIDIUM_FIX	7226.19,-14838.96,160817,082215	CAP_FILE_SIZE	107530,0
TT8_MAMPS	0.039697,0.89131	CFSIZE	2097872896,2062942208
HUMID	48.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1451.2
TCM_TEMP	13.60	CURRENT	0.092,230.01,1
XPDR_PINGS	15	GPS	160817,134858,7227.262,-14821.021,16,0.7,17,21.2,0.5,202.9,12,9.9
CP_FREE	16005103616.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.47	nil	0	0	0.00
Roll_motor	90	2142	2419.64	nil	0	0	0.00
VBD_pump_during_apogee	942	1392	16434.07	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	8964	14	1651.90
Iridium_during_xfer	395	186	924.45	NCP	8964	20	2244.59
Transponder_ping	3	420	19.72	PMAR	8912	16	1855.66
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.09
TT8	0	0	0.00
LPSleep	6284	2	181.75
TT8_Active	923	13	161.55
TT8_Sampling	2199	33	920.70
TT8_CF8	292	38	141.51
TT8_Kalman	0	0	0.00
Analog_circuits	2125	10	266.15
GPS_charging	0	0	0.00
Compass	1249	7	109.47
RAFOS	2209	48	1327.52
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	178	2229	508	463	0.0	0.0	0	129	0.00	0.00	-81.62	0.000	16386	0.000	0.000	176	2228	2033	1954	2113	0	0	0	0	0	0	14.36	28.83	14.38
132	-0.57	-145.9	178	2228	1957	2115	3.1	-3.7	8	189	12.68	2.85	-37.62	0.000	18980	0.455	2.142	2385	770	3964	3950	3979	0	0	0	0	0	0	13.70	12.65	14.10
294	-0.57	-145.9	2386	770	3958	3979	40.8	-17.6	40	299	0.00	2.50	0.00	0.000	1030	0.000	0.087	2379	2176	3968	3957	3979	0	0	0	0	0	0	14.09	13.99	14.15
604	-0.57	-145.9	2379	2177	3962	3979	92.2	-14.1	72	609	0.00	2.55	0.00	0.000	260	0.000	0.091	2375	3614	3970	3961	3979	0	0	0	0	0	0	14.45	14.00	14.46
829	-0.70	-145.9	2375	3615	3961	3980	117.9	-10.7	117	834	0.00	2.42	0.00	0.000	1158	0.000	0.054	2375	2181	3970	3960	3980	0	0	0	0	0	0	14.22	14.12	14.25
1145	-0.78	-145.9	2375	2181	3961	3978	152.3	-10.6	130	1150	0.15	2.53	0.00	0.000	4484	0.131	0.086	2306	3616	3969	3961	3978	0	0	0	0	0	0	14.25	14.20	14.30
1275	-0.82	-145.9	2306	3616	3962	3979	170.9	-13.8	156	1280	0.00	2.40	0.00	0.000	1158	0.000	0.055	2306	2194	3969	3960	3979	0	0	0	0	0	0	14.26	14.17	14.32
1595	-0.79	-145.9	2306	2193	3962	3977	219.5	-14.3	170	1600	0.00	2.50	0.00	0.000	388	0.000	0.087	2297	3617	3968	3960	3976	0	0	0	0	0	0	14.55	14.12	14.57
1775	-0.83	-145.9	2297	3618	3961	3977	242.7	-12.0	206	1779	0.00	2.40	0.00	0.000	1158	0.000	0.055	2296	2192	3968	3961	3976	0	0	0	0	0	0	14.36	14.26	14.41
2105	-0.83	-145.9	2296	2191	3962	3973	284.3	-12.3	222	2109	0.00	2.50	0.00	0.000	260	0.000	0.088	2287	3617	3966	3960	3973	0	0	0	0	0	0	14.57	14.21	14.58
2250	-0.89	-145.9	2287	3620	3960	3974	301.3	-11.2	251	2257	0.00	2.40	0.00	0.000	1158	0.000	0.055	2287	2193	3965	3958	3972	0	0	0	0	0	0	14.34	14.23	14.37
2555	-0.89	-145.9	2287	2192	3962	3970	338.6	-12.3	262	2559	0.00	2.50	0.00	0.000	260	0.000	0.088	2280	3612	3965	3960	3970	0	0	0	0	0	0	14.50	14.13	14.48
2660	-0.93	-145.9	2280	3614	3961	3971	351.2	-11.6	283	2665	0.00	2.40	0.00	0.000	1158	0.000	0.054	2283	2190	3964	3960	3969	0	0	0	0	0	0	14.27	14.17	14.28
2976	-0.93	-145.9	2280	2190	3961	3970	390.1	-12.2	296	2980	0.00	2.53	0.00	0.000	260	0.000	0.087	2273	3616	3964	3960	3969	0	0	0	0	0	0	14.42	14.08	14.43
3087	-0.97	-145.9	2273	3617	3961	3969	403.3	-11.8	318	3092	0.00	2.40	0.00	0.000	1158	0.000	0.054	2273	2199	3964	3960	3968	0	0	0	0	0	0	14.23	14.13	14.26
3397	-0.97	-145.9	2273	2198	3961	3967	442.0	-12.4	330	3402	0.00	2.53	0.00	0.000	260	0.000	0.088	2267	3616	3963	3960	3967	0	0	0	0	0	0	14.38	14.02	14.40
3524	-1.00	-145.9	2267	3617	3961	3967	457.4	-12.1	355	3530	0.00	2.42	0.00	0.000	1158	0.000	0.054	2267	2190	3963	3960	3967	0	0	0	0	0	0	14.11	14.00	14.13
3697	end dive: TARGET_DEPTH_EXCEEDED
state	3697	begin apogee
3703	-0.13	0.0	2268	2066	3968	3965	480.2	-12.9	365	3929	1.05	0.08	222.10	1.392	10246	0.244	0.179	2530	2111	3365	3406	3324	0	0	0	0	0	0	13.83	13.33	12.72
3933	end apogee: CONTROL_FINISHED_OK
state	3933	begin climb
3938	0.57	145.9	2531	2112	3398	3313	490.4	0.0	372	4154	0.75	2.67	202.70	1.353	10500	0.063	0.075	2782	3498	2756	2813	2700	0	0	0	0	0	0	13.46	13.14	12.52
4379	0.15	145.9	2783	3504	2791	2701	453.8	17.7	455	4386	0.77	2.42	0.00	0.000	5254	0.344	0.056	2635	2123	2743	2787	2699	0	0	0	0	0	0	13.41	13.68	13.71
4685	0.08	178.6	2635	2124	2792	2699	426.2	8.5	466	4737	0.00	2.53	43.00	1.389	8612	0.000	0.080	2632	3497	2627	2682	2573	0	0	0	0	0	0	14.20	13.76	13.09
4868	-0.00	178.6	2636	3497	2673	2566	408.0	10.4	502	4873	0.25	2.38	0.00	0.000	5254	0.247	0.057	2587	2106	2618	2672	2565	0	0	0	0	0	0	13.71	13.91	13.94
5199	0.11	255.1	2587	2106	2672	2563	386.2	6.5	518	5325	0.00	2.60	119.85	1.300	8868	0.000	0.086	2589	687	2319	2380	2258	0	0	0	0	0	0	14.29	13.65	13.02
5383	0.32	318.7	2588	687	2368	2252	373.7	7.1	554	5492	0.30	2.55	100.05	1.282	11430	0.083	0.079	2696	2096	2059	2118	2001	0	0	0	0	0	0	13.78	13.71	12.83
5804	0.28	318.7	2696	2097	2100	1988	312.9	14.7	588	5809	0.00	2.53	0.00	0.000	644	0.000	0.086	2699	690	2043	2100	1987	0	0	0	0	0	0	14.22	13.93	14.23
5864	0.28	318.7	2699	689	2096	1988	304.3	14.0	600	5869	0.00	2.50	0.00	0.000	1030	0.000	0.076	2699	2101	2041	2096	1987	0	0	0	0	0	0	14.11	14.00	14.14
6194	0.23	318.7	2699	2103	2096	1986	257.5	13.9	616	6199	0.15	2.50	0.00	0.000	4740	0.233	0.086	2661	685	2040	2095	1985	0	0	0	0	0	0	14.02	14.14	14.15
6239	0.33	318.7	2662	686	2094	1985	252.5	10.2	625	6245	0.00	2.47	0.00	0.000	1158	0.000	0.078	2662	2109	2037	2090	1985	0	0	0	0	0	0	14.29	14.17	14.33
6556	0.39	329.5	2662	2111	2101	1985	221.3	9.5	638	6566	0.12	2.53	2.33	0.644	10916	0.135	0.084	2725	693	2027	2080	1974	0	0	0	0	0	0	14.21	14.21	12.93
6596	0.34	329.5	2727	693	2083	1979	216.5	12.8	646	6602	0.15	2.45	1.52	0.305	13446	0.252	0.079	2694	2107	2022	2075	1970	0	0	0	0	0	0	14.07	14.23	13.70
6917	0.34	329.5	2695	2107	2086	1979	182.1	10.2	660	6922	0.00	2.55	1.75	0.272	8708	0.000	0.085	2699	687	2021	2074	1968	0	0	0	0	0	0	14.55	14.19	13.91
6952	0.37	329.7	2699	688	2078	1976	178.5	10.0	667	6957	0.00	2.45	0.00	0.000	1190	0.000	0.077	2699	2100	2026	2078	1975	0	0	0	0	0	0	14.33	14.22	14.35
7277	0.38	339.3	2699	2101	2085	1977	146.9	9.6	682	7309	0.00	2.47	25.48	1.362	8740	0.000	0.083	2697	691	1976	2029	1924	0	0	0	0	0	0	14.57	13.99	13.43
7366	0.47	366.4	2699	692	2018	1922	139.0	8.7	699	7420	0.10	2.47	44.78	1.290	11430	0.155	0.076	2747	2103	1870	1908	1832	0	0	0	0	0	0	14.14	14.13	13.28
7720	0.44	366.4	2747	2103	1897	1823	96.6	11.6	723	7721	0.00	0.00	0.00	0.000	134	0.000	0.000	2747	2102	1859	1896	1822	0	0	0	0	0	0	14.39	14.41	14.41
8022	0.45	390.2	2748	2103	1896	1820	65.6	8.9	753	8034	0.00	0.00	11.07	0.391	8230	0.000	0.000	2747	2103	1774	1808	1741	0	0	0	0	0	0	14.45	14.19	13.80
8330	0.55	489.4	2747	2103	1816	1745	43.3	5.4	784	8389	0.00	2.47	53.60	0.331	8612	0.000	0.083	2750	3508	1369	1432	1307	0	0	0	0	0	0	14.46	14.02	13.81
8446	0.72	546.8	2748	3510	1430	1311	35.8	7.4	806	8482	0.17	2.45	31.25	0.305	11430	0.105	0.064	2820	2096	1130	1205	1056	0	0	0	0	0	0	14.15	14.11	13.76
8788	0.95	720.2	2820	2096	1210	1058	11.2	2.0	844	8878	0.17	2.50	83.30	0.236	10916	0.106	0.090	2902	685	496	537	455	0	0	0	0	0	0	14.15	13.97	13.86
8921	end climb: SURFACE_DEPTH_REACHED
state	8921	begin surface coast
8936	end surface coast: CONTROL_FINISHED_OK
state	8936	begin surface