Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 63 * 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 63 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 183.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 183.0 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 22 VBD_MIN 500

DIVE 63 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 140817,002351,7203.8862,-14750.3076,62,0.8,63,21.3,1.1,271.9,11,8.3 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 1.26 MHEAD_RNG_PITCHd_Wd 326.7,142024,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 140817,003726,7203.8213,-14750.6797,8,0.8,12,21.3,0.0,241.0,10,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814000516.253436,3,55,11,0103,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38 PM_FREEKB_00 58331904

FREEZE 15.39,6.571,-1.399,0,1,0 _24V_AH 12.61,72.543

SM_CCo 8669,100.28,0.250,0,0,497,703.28 _10V_AH 12.54,0.000

SM_GC 1.20,8.00,0.17,0.00,0.076,0.117,0.000,206,2223,493,-7.37,-0.68,704.26,0,0,0,0,0,0,14.18,14.25,14.29 FG_AHR_24Vo 0.000

RAFOS_CLK 375 FG_AHR_10Vo 0.000

MODEM 0,1502669116,75.36600,-145.04601,262.253,380723.0 MEM 323640

RAFOS_FIX 7228.703125,-14627.398438,130817,202006,2,255,13.68 DATA_FILE_SIZE 23435,691

IRIDIUM_FIX 7205.39,-14747.82,140817,002822 CAP_FILE_SIZE 101384,0

TT8_MAMPS 0.041195,0.920521 CFSIZE 2097872896,2069233664

HUMID 49.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1450.9

TCM_TEMP 13.30 CURRENT 0.080,267.63,1

XPDR_PINGS 20 GPS 140817,030919,7204.953,-14752.221,22,0.7,59,21.3,0.3,328.1,11,5.9

CP_FREE 16008675328.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 144.70 nil 0 0 0.00

Roll_motor 85 2132 2293.46 nil 0 0 0.00

VBD_pump_during_apogee 833 1417 14890.08 nil 0 0 0.00

VBD_pump_during_surface 100 250 316.31 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 8693 14 1594.19

Iridium_during_xfer 479 192 1160.23 NCP 8682 20 2189.60

Transponder_ping 5 420 26.48 PMAR 8640 16 1805.31

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.83

TT8 0 0 0.00

LPSleep 6528 2 189.12

TT8_Active 860 13 150.74

TT8_Sampling 2141 33 898.01

TT8_CF8 272 38 132.06

TT8_Kalman 0 0 0.00

Analog_circuits 2127 10 266.80

GPS_charging 0 0 0.00

Compass 992 7 87.10

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

45 -0.57 -145.9 163 2190 511 465 0.0 0.0 0 128 0.00 0.00 -81.05 0.000 16386 0.000 0.000 161 2189 2119 2044 2194 0 0 0 0 0 0 14.19 28.83 14.21

131 -0.57 -145.9 161 2190 2045 2198 3.1 -3.4 8 186 12.85 2.80 -34.22 0.000 18724 0.457 2.133 2377 3610 3968 3956 3980 0 0 0 0 0 0 13.63 12.88 14.00

321 -0.57 -145.9 2380 3612 3964 3983 48.6 -17.4 45 327 0.00 2.45 0.00 0.000 1030 0.000 0.059 2377 2198 3970 3963 3978 0 0 0 0 0 0 14.05 13.95 14.07

626 -0.57 -145.9 2376 2197 3967 3981 98.5 -14.6 76 631 0.00 2.50 0.00 0.000 260 0.000 0.083 2366 3610 3973 3967 3980 0 0 0 0 0 0 14.38 14.04 14.40

691 -0.67 -145.9 2368 3612 3968 3981 107.3 -12.3 89 696 0.00 2.42 0.00 0.000 1158 0.000 0.056 2367 2189 3973 3966 3980 0 0 0 0 0 0 14.24 14.12 14.25

1016 -0.70 -145.9 2367 2185 3970 3981 149.4 -12.6 104 1021 0.00 2.50 0.00 0.000 388 0.000 0.085 2363 3609 3973 3966 3980 0 0 0 0 0 0 14.47 14.14 14.49

1066 -0.84 -145.9 2367 3611 3966 3981 155.1 -10.6 114 1071 0.17 2.40 0.00 0.000 5254 0.110 0.056 2289 2196 3973 3966 3980 0 0 0 0 0 0 14.23 14.19 14.31

1377 -0.76 -145.9 2289 2197 3967 3980 209.1 -17.0 126 1382 0.15 2.47 0.00 0.000 2436 0.287 0.082 2316 3610 3972 3966 3978 0 0 0 0 0 0 13.89 14.15 14.04

1532 -0.83 -145.9 2316 3612 3967 3979 227.7 -11.2 157 1537 0.00 2.38 0.00 0.000 1158 0.000 0.056 2316 2201 3972 3966 3978 0 0 0 0 0 0 14.33 14.23 14.35

1857 -0.83 -145.9 2316 2200 3967 3976 266.0 -11.5 172 1862 0.00 2.47 0.00 0.000 260 0.000 0.085 2306 3610 3970 3966 3975 0 0 0 0 0 0 14.54 14.13 14.55

1932 -0.91 -145.9 2308 3611 3966 3976 274.6 -10.9 187 1938 0.00 2.38 0.00 0.000 1158 0.000 0.058 2308 2204 3970 3966 3974 0 0 0 0 0 0 14.25 14.14 14.29

2248 -0.91 -145.9 2308 2203 3973 3973 311.0 -11.3 200 2249 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2202 3968 3965 3972 0 0 0 0 0 0 14.54 14.54 14.56

2548 -0.93 -145.9 2308 2203 3967 3971 344.9 -11.1 210 2553 0.00 2.47 0.00 0.000 388 0.000 0.089 2307 3610 3968 3967 3970 0 0 0 0 0 0 14.55 14.19 14.57

2608 -1.03 -145.9 2308 3611 3967 3970 351.4 -10.3 222 2613 0.20 2.40 0.00 0.000 5254 0.104 0.059 2236 2198 3967 3965 3970 0 0 0 0 0 0 14.26 14.23 14.35

2939 -0.91 -145.9 2236 2196 3966 3970 407.5 -17.4 238 2944 0.17 2.50 0.00 0.000 2436 0.309 0.083 2266 3619 3967 3965 3969 0 0 0 0 0 0 13.88 14.15 14.05

3063 -0.91 -145.9 2266 3620 3965 3969 424.9 -12.9 263 3070 0.00 2.42 0.00 0.000 1030 0.000 0.058 2266 2195 3966 3963 3969 0 0 0 0 0 0 14.30 14.19 14.33

3390 -0.86 -145.9 2267 2194 3965 3967 470.4 -13.9 278 3395 0.15 2.50 0.00 0.000 2436 0.310 0.083 2291 3620 3965 3964 3967 0 0 0 0 0 0 13.90 14.15 14.08

3473 end dive: TARGET_DEPTH_EXCEEDED

state 3473 begin apogee

3480 -0.13 0.0 2292 2101 3965 3967 480.1 -10.2 295 3704 0.93 0.00 220.40 1.404 10246 0.226 0.000 2531 2105 3362 3403 3322 0 0 0 0 0 0 13.97 13.49 12.83

3708 end apogee: CONTROL_FINISHED_OK

state 3708 begin climb

3711 0.57 145.9 2532 2100 3395 3312 490.3 0.0 302 3920 0.73 2.70 198.75 1.347 10756 0.067 0.080 2781 691 2762 2822 2702 0 0 0 0 0 0 13.56 13.12 12.61

3929 0.57 145.9 2782 691 2813 2700 491.2 0.2 304 3934 0.00 2.62 0.00 0.000 1030 0.000 0.076 2781 2099 2755 2811 2699 0 0 0 0 0 0 13.40 13.31 13.43

4249 0.21 145.9 2781 2101 2802 2696 438.6 16.3 318 4254 0.57 2.53 0.00 0.000 4484 0.321 0.077 2655 3519 2747 2801 2694 0 0 0 0 0 0 13.59 13.85 13.79

4475 0.04 145.9 2655 3519 2796 2695 412.5 11.0 363 4481 0.28 2.45 0.00 0.000 5254 0.287 0.060 2602 2096 2745 2795 2695 0 0 0 0 0 0 13.83 14.04 14.09

4791 0.09 216.8 2602 2095 2797 2695 390.7 6.7 376 4905 0.00 2.62 105.40 1.307 8740 0.000 0.086 2602 687 2474 2542 2406 0 0 0 0 0 0 14.43 13.74 13.14

4941 0.26 275.5 2603 687 2532 2402 380.0 7.3 406 5038 0.20 2.53 89.25 1.283 11430 0.100 0.079 2679 2095 2237 2303 2172 0 0 0 0 0 0 13.88 13.83 12.97

5363 0.21 275.5 2680 2100 2285 2149 326.7 12.8 440 5364 0.00 0.00 0.00 0.000 134 0.000 0.000 2679 2099 2217 2286 2148 0 0 0 0 0 0 14.23 14.23 14.24

5663 0.18 275.5 2680 2099 2283 2147 288.7 12.8 450 5668 0.15 2.47 0.00 0.000 4740 0.268 0.084 2645 693 2217 2286 2148 0 0 0 0 0 0 13.91 14.09 14.07

5744 0.27 286.7 2647 694 2281 2148 280.5 9.5 466 5756 0.00 2.47 2.62 0.788 9382 0.000 0.080 2647 2109 2195 2261 2130 0 0 0 0 0 0 14.26 14.14 13.00

6054 0.30 292.3 2647 2109 2271 2142 249.7 9.7 478 6074 0.00 2.45 15.15 1.418 8612 0.000 0.082 2647 3512 2168 2232 2105 0 0 0 0 0 0 14.49 14.00 13.43

6109 0.34 292.3 2647 3513 2220 2105 244.0 10.8 489 6115 0.12 2.42 0.00 0.000 3206 0.125 0.063 2704 2097 2161 2219 2103 0 0 0 0 0 0 14.14 14.14 14.13

6414 0.29 292.3 2704 2096 2219 2102 204.8 12.7 500 6419 0.12 2.47 0.00 0.000 4740 0.256 0.085 2679 680 2160 2219 2101 0 0 0 0 0 0 14.04 14.18 14.17

6506 0.34 307.5 2680 680 2218 2102 195.9 9.3 518 6536 0.00 2.47 21.33 1.388 9382 0.000 0.080 2679 2100 2106 2163 2049 0 0 0 0 0 0 14.21 14.10 13.43

6834 0.36 331.9 2680 2101 2157 2043 165.2 8.9 534 6874 0.00 0.00 38.12 1.342 8230 0.000 0.000 2679 2100 2012 2066 1959 0 0 0 0 0 0 14.45 14.02 13.33

7164 0.44 371.2 2680 2099 2056 1945 137.3 8.2 545 7232 0.12 0.00 66.22 1.263 10406 0.137 0.000 2736 2098 1852 1892 1812 0 0 0 0 0 0 14.19 13.88 13.25

7524 0.44 371.2 2735 2101 1877 1800 97.6 10.7 557 7530 0.00 2.50 0.00 0.000 516 0.000 0.086 2742 690 1837 1876 1798 0 0 0 0 0 0 14.33 14.04 14.35

7590 0.48 374.8 2742 690 1873 1799 90.9 9.8 570 7596 0.00 2.47 0.00 0.000 1190 0.000 0.080 2742 2098 1835 1871 1799 0 0 0 0 0 0 14.18 14.07 14.19

7895 0.49 389.0 2742 2100 1874 1797 60.0 9.3 601 7907 0.00 2.58 7.60 0.386 8740 0.000 0.085 2742 681 1776 1814 1739 0 0 0 0 0 0 14.41 14.08 13.78

7942 0.58 416.1 2742 683 1820 1744 55.9 8.7 610 7964 0.00 2.50 15.75 0.374 9382 0.000 0.078 2742 2107 1666 1701 1631 0 0 0 0 0 0 14.23 14.12 13.78

8269 0.73 515.4 2742 2108 1701 1626 32.9 5.4 645 8327 0.20 2.60 52.40 0.306 10916 0.107 0.087 2827 682 1263 1328 1198 0 0 0 0 0 0 14.13 14.04 13.85

8374 0.76 515.4 2827 682 1328 1198 23.0 11.1 661 8378 0.00 2.50 0.00 0.000 1158 0.000 0.079 2827 2101 1262 1326 1198 0 0 0 0 0 0 14.18 14.07 14.21

8663 end climb: NO_VERTICAL_VELOCITY

state 8663 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	63	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	183.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,002351,7203.8862,-14750.3076,62,0.8,63,21.3,1.1,271.9,11,8.3	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	1.26	MHEAD_RNG_PITCHd_Wd	326.7,142024,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	140817,003726,7203.8213,-14750.6797,8,0.8,12,21.3,0.0,241.0,10,9.8

MODEM_MSG	CACST,6,1,20170814000516.253436,3,55,11,0103,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38	PM_FREEKB_00	58331904
FREEZE	15.39,6.571,-1.399,0,1,0	_24V_AH	12.61,72.543
SM_CCo	8669,100.28,0.250,0,0,497,703.28	_10V_AH	12.54,0.000
SM_GC	1.20,8.00,0.17,0.00,0.076,0.117,0.000,206,2223,493,-7.37,-0.68,704.26,0,0,0,0,0,0,14.18,14.25,14.29	FG_AHR_24Vo	0.000
RAFOS_CLK	375	FG_AHR_10Vo	0.000
MODEM	0,1502669116,75.36600,-145.04601,262.253,380723.0	MEM	323640
RAFOS_FIX	7228.703125,-14627.398438,130817,202006,2,255,13.68	DATA_FILE_SIZE	23435,691
IRIDIUM_FIX	7205.39,-14747.82,140817,002822	CAP_FILE_SIZE	101384,0
TT8_MAMPS	0.041195,0.920521	CFSIZE	2097872896,2069233664
HUMID	49.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1450.9
TCM_TEMP	13.30	CURRENT	0.080,267.63,1
XPDR_PINGS	20	GPS	140817,030919,7204.953,-14752.221,22,0.7,59,21.3,0.3,328.1,11,5.9
CP_FREE	16008675328.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	144.70	nil	0	0	0.00
Roll_motor	85	2132	2293.46	nil	0	0	0.00
VBD_pump_during_apogee	833	1417	14890.08	nil	0	0	0.00
VBD_pump_during_surface	100	250	316.31	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	8693	14	1594.19
Iridium_during_xfer	479	192	1160.23	NCP	8682	20	2189.60
Transponder_ping	5	420	26.48	PMAR	8640	16	1805.31
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.83
TT8	0	0	0.00
LPSleep	6528	2	189.12
TT8_Active	860	13	150.74
TT8_Sampling	2141	33	898.01
TT8_CF8	272	38	132.06
TT8_Kalman	0	0	0.00
Analog_circuits	2127	10	266.80
GPS_charging	0	0	0.00
Compass	992	7	87.10
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
45	-0.57	-145.9	163	2190	511	465	0.0	0.0	0	128	0.00	0.00	-81.05	0.000	16386	0.000	0.000	161	2189	2119	2044	2194	0	0	0	0	0	0	14.19	28.83	14.21
131	-0.57	-145.9	161	2190	2045	2198	3.1	-3.4	8	186	12.85	2.80	-34.22	0.000	18724	0.457	2.133	2377	3610	3968	3956	3980	0	0	0	0	0	0	13.63	12.88	14.00
321	-0.57	-145.9	2380	3612	3964	3983	48.6	-17.4	45	327	0.00	2.45	0.00	0.000	1030	0.000	0.059	2377	2198	3970	3963	3978	0	0	0	0	0	0	14.05	13.95	14.07
626	-0.57	-145.9	2376	2197	3967	3981	98.5	-14.6	76	631	0.00	2.50	0.00	0.000	260	0.000	0.083	2366	3610	3973	3967	3980	0	0	0	0	0	0	14.38	14.04	14.40
691	-0.67	-145.9	2368	3612	3968	3981	107.3	-12.3	89	696	0.00	2.42	0.00	0.000	1158	0.000	0.056	2367	2189	3973	3966	3980	0	0	0	0	0	0	14.24	14.12	14.25
1016	-0.70	-145.9	2367	2185	3970	3981	149.4	-12.6	104	1021	0.00	2.50	0.00	0.000	388	0.000	0.085	2363	3609	3973	3966	3980	0	0	0	0	0	0	14.47	14.14	14.49
1066	-0.84	-145.9	2367	3611	3966	3981	155.1	-10.6	114	1071	0.17	2.40	0.00	0.000	5254	0.110	0.056	2289	2196	3973	3966	3980	0	0	0	0	0	0	14.23	14.19	14.31
1377	-0.76	-145.9	2289	2197	3967	3980	209.1	-17.0	126	1382	0.15	2.47	0.00	0.000	2436	0.287	0.082	2316	3610	3972	3966	3978	0	0	0	0	0	0	13.89	14.15	14.04
1532	-0.83	-145.9	2316	3612	3967	3979	227.7	-11.2	157	1537	0.00	2.38	0.00	0.000	1158	0.000	0.056	2316	2201	3972	3966	3978	0	0	0	0	0	0	14.33	14.23	14.35
1857	-0.83	-145.9	2316	2200	3967	3976	266.0	-11.5	172	1862	0.00	2.47	0.00	0.000	260	0.000	0.085	2306	3610	3970	3966	3975	0	0	0	0	0	0	14.54	14.13	14.55
1932	-0.91	-145.9	2308	3611	3966	3976	274.6	-10.9	187	1938	0.00	2.38	0.00	0.000	1158	0.000	0.058	2308	2204	3970	3966	3974	0	0	0	0	0	0	14.25	14.14	14.29
2248	-0.91	-145.9	2308	2203	3973	3973	311.0	-11.3	200	2249	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2202	3968	3965	3972	0	0	0	0	0	0	14.54	14.54	14.56
2548	-0.93	-145.9	2308	2203	3967	3971	344.9	-11.1	210	2553	0.00	2.47	0.00	0.000	388	0.000	0.089	2307	3610	3968	3967	3970	0	0	0	0	0	0	14.55	14.19	14.57
2608	-1.03	-145.9	2308	3611	3967	3970	351.4	-10.3	222	2613	0.20	2.40	0.00	0.000	5254	0.104	0.059	2236	2198	3967	3965	3970	0	0	0	0	0	0	14.26	14.23	14.35
2939	-0.91	-145.9	2236	2196	3966	3970	407.5	-17.4	238	2944	0.17	2.50	0.00	0.000	2436	0.309	0.083	2266	3619	3967	3965	3969	0	0	0	0	0	0	13.88	14.15	14.05
3063	-0.91	-145.9	2266	3620	3965	3969	424.9	-12.9	263	3070	0.00	2.42	0.00	0.000	1030	0.000	0.058	2266	2195	3966	3963	3969	0	0	0	0	0	0	14.30	14.19	14.33
3390	-0.86	-145.9	2267	2194	3965	3967	470.4	-13.9	278	3395	0.15	2.50	0.00	0.000	2436	0.310	0.083	2291	3620	3965	3964	3967	0	0	0	0	0	0	13.90	14.15	14.08
3473	end dive: TARGET_DEPTH_EXCEEDED
state	3473	begin apogee
3480	-0.13	0.0	2292	2101	3965	3967	480.1	-10.2	295	3704	0.93	0.00	220.40	1.404	10246	0.226	0.000	2531	2105	3362	3403	3322	0	0	0	0	0	0	13.97	13.49	12.83
3708	end apogee: CONTROL_FINISHED_OK
state	3708	begin climb
3711	0.57	145.9	2532	2100	3395	3312	490.3	0.0	302	3920	0.73	2.70	198.75	1.347	10756	0.067	0.080	2781	691	2762	2822	2702	0	0	0	0	0	0	13.56	13.12	12.61
3929	0.57	145.9	2782	691	2813	2700	491.2	0.2	304	3934	0.00	2.62	0.00	0.000	1030	0.000	0.076	2781	2099	2755	2811	2699	0	0	0	0	0	0	13.40	13.31	13.43
4249	0.21	145.9	2781	2101	2802	2696	438.6	16.3	318	4254	0.57	2.53	0.00	0.000	4484	0.321	0.077	2655	3519	2747	2801	2694	0	0	0	0	0	0	13.59	13.85	13.79
4475	0.04	145.9	2655	3519	2796	2695	412.5	11.0	363	4481	0.28	2.45	0.00	0.000	5254	0.287	0.060	2602	2096	2745	2795	2695	0	0	0	0	0	0	13.83	14.04	14.09
4791	0.09	216.8	2602	2095	2797	2695	390.7	6.7	376	4905	0.00	2.62	105.40	1.307	8740	0.000	0.086	2602	687	2474	2542	2406	0	0	0	0	0	0	14.43	13.74	13.14
4941	0.26	275.5	2603	687	2532	2402	380.0	7.3	406	5038	0.20	2.53	89.25	1.283	11430	0.100	0.079	2679	2095	2237	2303	2172	0	0	0	0	0	0	13.88	13.83	12.97
5363	0.21	275.5	2680	2100	2285	2149	326.7	12.8	440	5364	0.00	0.00	0.00	0.000	134	0.000	0.000	2679	2099	2217	2286	2148	0	0	0	0	0	0	14.23	14.23	14.24
5663	0.18	275.5	2680	2099	2283	2147	288.7	12.8	450	5668	0.15	2.47	0.00	0.000	4740	0.268	0.084	2645	693	2217	2286	2148	0	0	0	0	0	0	13.91	14.09	14.07
5744	0.27	286.7	2647	694	2281	2148	280.5	9.5	466	5756	0.00	2.47	2.62	0.788	9382	0.000	0.080	2647	2109	2195	2261	2130	0	0	0	0	0	0	14.26	14.14	13.00
6054	0.30	292.3	2647	2109	2271	2142	249.7	9.7	478	6074	0.00	2.45	15.15	1.418	8612	0.000	0.082	2647	3512	2168	2232	2105	0	0	0	0	0	0	14.49	14.00	13.43
6109	0.34	292.3	2647	3513	2220	2105	244.0	10.8	489	6115	0.12	2.42	0.00	0.000	3206	0.125	0.063	2704	2097	2161	2219	2103	0	0	0	0	0	0	14.14	14.14	14.13
6414	0.29	292.3	2704	2096	2219	2102	204.8	12.7	500	6419	0.12	2.47	0.00	0.000	4740	0.256	0.085	2679	680	2160	2219	2101	0	0	0	0	0	0	14.04	14.18	14.17
6506	0.34	307.5	2680	680	2218	2102	195.9	9.3	518	6536	0.00	2.47	21.33	1.388	9382	0.000	0.080	2679	2100	2106	2163	2049	0	0	0	0	0	0	14.21	14.10	13.43
6834	0.36	331.9	2680	2101	2157	2043	165.2	8.9	534	6874	0.00	0.00	38.12	1.342	8230	0.000	0.000	2679	2100	2012	2066	1959	0	0	0	0	0	0	14.45	14.02	13.33
7164	0.44	371.2	2680	2099	2056	1945	137.3	8.2	545	7232	0.12	0.00	66.22	1.263	10406	0.137	0.000	2736	2098	1852	1892	1812	0	0	0	0	0	0	14.19	13.88	13.25
7524	0.44	371.2	2735	2101	1877	1800	97.6	10.7	557	7530	0.00	2.50	0.00	0.000	516	0.000	0.086	2742	690	1837	1876	1798	0	0	0	0	0	0	14.33	14.04	14.35
7590	0.48	374.8	2742	690	1873	1799	90.9	9.8	570	7596	0.00	2.47	0.00	0.000	1190	0.000	0.080	2742	2098	1835	1871	1799	0	0	0	0	0	0	14.18	14.07	14.19
7895	0.49	389.0	2742	2100	1874	1797	60.0	9.3	601	7907	0.00	2.58	7.60	0.386	8740	0.000	0.085	2742	681	1776	1814	1739	0	0	0	0	0	0	14.41	14.08	13.78
7942	0.58	416.1	2742	683	1820	1744	55.9	8.7	610	7964	0.00	2.50	15.75	0.374	9382	0.000	0.078	2742	2107	1666	1701	1631	0	0	0	0	0	0	14.23	14.12	13.78
8269	0.73	515.4	2742	2108	1701	1626	32.9	5.4	645	8327	0.20	2.60	52.40	0.306	10916	0.107	0.087	2827	682	1263	1328	1198	0	0	0	0	0	0	14.13	14.04	13.85
8374	0.76	515.4	2827	682	1328	1198	23.0	11.1	661	8378	0.00	2.50	0.00	0.000	1158	0.000	0.079	2827	2101	1262	1326	1198	0	0	0	0	0	0	14.18	14.07	14.21
8663	end climb: NO_VERTICAL_VELOCITY
state	8663	begin surface