Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 71 * 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 71 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 206.0

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 31 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 206.0 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 71 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 140817,225229,7212.9180,-14801.2139,40,0.8,43,21.3,0.0,61.0,10,9.8 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 1.28 MHEAD_RNG_PITCHd_Wd 319.3,124563,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 140817,230255,7212.9116,-14801.2959,10,0.8,10,21.3,0.0,244.5,11,8.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170815001348.525036,3,17,06,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 57725312

FREEZE 13.91,5.990,-1.382,0,1,0 _24V_AH 12.54,76.260

SM_CCo 9140,102.60,0.249,0,0,500,702.78 _10V_AH 12.47,0.000

SM_GC 1.20,7.82,0.17,0.00,0.075,0.120,0.000,201,2213,496,-7.38,-0.74,703.77,0,0,0,0,0,0,14.23,14.23,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 275 FG_AHR_10Vo 0.000

MODEM 2,1502756028,73.18300,-149.96500,81.525,117692.3 MEM 323888

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 DATA_FILE_SIZE 23375,644

IRIDIUM_FIX 7211.05,-14801.91,140817,201349 CAP_FILE_SIZE 96716,0

TT8_MAMPS 0.038948,0.89131 CFSIZE 2097872896,2066939904

HUMID 48.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1450.2

TCM_TEMP 13.30 CURRENT 0.070,252.73,1

XPDR_PINGS 10 GPS 150817,014148,7214.042,-14803.011,18,0.7,21,21.3,0.4,204.6,12,9.4

CP_FREE 16007331840.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 449 134.11 nil 0 0 0.00

Roll_motor 69 2148 1878.89 nil 0 0 0.00

VBD_pump_during_apogee 823 1669 17247.61 nil 0 0 0.00

VBD_pump_during_surface 102 248 319.88 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 9161 14 1658.16

Iridium_during_xfer 356 182 817.42 NCP 9154 20 2295.82

Transponder_ping 2 420 13.17 PMAR 9109 16 1895.59

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.14

TT8 0 0 0.00

LPSleep 6980 2 201.09

TT8_Active 856 13 149.14

TT8_Sampling 1962 33 818.26

TT8_CF8 273 38 131.72

TT8_Kalman 0 0 0.00

Analog_circuits 1951 10 243.41

GPS_charging 0 0 0.00

Compass 925 7 80.82

RAFOS 2159 48 1292.29

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 -145.9 174 2215 520 453 0.0 0.0 0 129 0.00 0.00 -81.12 0.000 16386 0.000 0.000 172 2215 2069 1986 2152 0 0 0 0 0 0 14.35 28.83 14.38

132 -0.57 -145.9 173 2215 1992 2153 3.6 -4.1 8 185 12.52 2.78 -35.22 0.000 18724 0.450 2.148 2380 3601 3964 3950 3979 0 0 0 0 0 0 13.71 12.67 14.12

410 -0.57 -145.9 2381 3602 3961 3979 63.3 -15.1 63 417 0.00 2.40 0.00 0.000 1030 0.000 0.057 2380 2196 3969 3960 3979 0 0 0 0 0 0 14.12 13.95 14.14

717 -0.57 -145.9 2380 2195 3963 3980 108.2 -13.3 90 722 0.00 2.47 0.00 0.000 260 0.000 0.085 2376 3601 3970 3962 3979 0 0 0 0 0 0 14.46 14.14 14.47

782 -0.72 -145.9 2382 3601 3965 3979 115.9 -10.1 103 788 0.00 2.38 0.00 0.000 1158 0.000 0.055 2376 2198 3970 3962 3979 0 0 0 0 0 0 14.28 14.18 14.31

1108 -0.78 -145.9 2377 2199 3963 3980 153.4 -11.5 118 1113 0.15 2.47 0.00 0.000 4484 0.133 0.083 2305 3607 3971 3962 3980 0 0 0 0 0 0 14.14 14.14 14.21

1173 -0.78 -145.9 2306 3608 3962 3980 163.1 -15.2 131 1179 0.00 2.40 0.00 0.000 1030 0.000 0.058 2305 2193 3970 3962 3979 0 0 0 0 0 0 14.29 14.15 14.33

1500 -0.73 -145.9 2306 2193 3962 3980 216.0 -15.5 146 1505 0.12 2.47 0.00 0.000 2436 0.283 0.082 2326 3609 3970 3962 3979 0 0 0 0 0 0 13.97 14.19 14.14

1592 -0.83 -145.9 2326 3610 3961 3980 226.4 -10.3 164 1596 0.00 2.38 0.00 0.000 1158 0.000 0.056 2325 2198 3971 3962 3981 0 0 0 0 0 0 14.33 14.23 14.37

1922 -0.86 -145.9 2326 2196 3963 3977 264.1 -11.2 180 1926 0.00 2.47 0.00 0.000 388 0.000 0.086 2319 3604 3969 3962 3977 0 0 0 0 0 0 14.57 14.16 14.57

1977 -0.97 -145.9 2319 3606 3962 3978 270.0 -10.3 191 1984 0.15 2.38 0.00 0.000 5254 0.123 0.058 2259 2201 3967 3957 3978 0 0 0 0 0 0 14.24 14.18 14.33

2282 -0.88 -145.9 2259 2200 3965 3976 318.5 -15.9 202 2287 0.15 2.45 0.00 0.000 2436 0.314 0.081 2282 3603 3967 3961 3973 0 0 0 0 0 0 13.93 14.20 14.12

2384 -0.91 -145.9 2283 3603 3962 3974 331.6 -12.1 222 2388 0.00 2.38 0.00 0.000 1158 0.000 0.059 2282 2200 3967 3961 3974 0 0 0 0 0 0 14.35 14.23 14.38

2704 -0.88 -145.9 2283 2200 3962 3973 373.1 -12.9 236 2709 0.00 2.45 0.00 0.000 388 0.000 0.086 2280 3601 3967 3961 3973 0 0 0 0 0 0 14.55 14.16 14.57

2784 -0.91 -145.9 2280 3602 3961 3973 383.0 -11.9 252 2789 0.00 2.38 0.00 0.000 1158 0.000 0.060 2280 2199 3966 3959 3973 0 0 0 0 0 0 14.35 14.23 14.37

3094 -0.88 -145.9 2281 2198 3962 3971 422.8 -12.8 264 3099 0.00 2.47 0.00 0.000 388 0.000 0.085 2274 3610 3966 3961 3971 0 0 0 0 0 0 14.56 14.19 14.57

3164 -0.91 -145.9 2274 3611 3961 3968 431.6 -12.1 278 3169 0.00 2.40 0.00 0.000 1158 0.000 0.058 2271 2194 3965 3960 3971 0 0 0 0 0 0 14.34 14.22 14.37

3486 -0.88 -145.9 2273 2195 3961 3971 473.5 -13.1 292 3491 0.00 2.50 0.00 0.000 388 0.000 0.085 2267 3605 3964 3959 3970 0 0 0 0 0 0 14.44 14.07 14.45

3533 end dive: TARGET_DEPTH_EXCEEDED

state 3533 begin apogee

3541 -0.13 0.0 2267 2103 3961 3972 480.4 -12.8 302 3767 1.05 0.00 222.45 1.394 10246 0.251 0.000 2529 2101 3363 3395 3331 0 0 0 0 0 0 13.88 13.43 12.77

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3773 0.57 145.9 2529 2102 3391 3322 490.8 0.0 309 3983 0.75 2.67 201.90 1.365 10756 0.066 0.077 2791 689 2762 2820 2705 0 0 0 0 0 0 13.49 13.06 12.54

4125 0.23 145.9 2791 689 2804 2701 470.8 16.2 338 4131 0.62 2.58 0.00 0.000 5254 0.315 0.075 2662 2099 2751 2803 2699 0 0 0 0 0 0 13.30 13.54 13.59

4430 0.09 145.9 2660 2100 2802 2695 439.1 10.0 349 4435 0.17 2.53 0.00 0.000 4740 0.308 0.076 2631 683 2747 2801 2694 0 0 0 0 0 0 13.64 13.85 13.81

4475 0.13 189.5 2631 684 2802 2694 435.3 8.0 358 4540 0.00 2.53 60.78 1.372 9254 0.000 0.079 2630 2097 2593 2659 2527 0 0 0 0 0 0 14.00 13.90 13.01

4851 0.11 201.5 2630 2097 2648 2503 400.0 9.4 383 4864 0.00 0.00 11.85 1.601 8358 0.000 0.000 2631 2101 2544 2617 2472 0 0 0 0 0 0 14.19 13.95 13.16

5151 0.11 210.6 2631 2097 2607 2460 371.3 9.6 393 5161 0.00 0.00 8.90 1.670 8230 0.000 0.000 2631 2097 2508 2581 2436 0 0 0 0 0 0 14.28 14.02 13.19

5450 0.12 220.3 2631 2103 2572 2429 342.6 9.6 403 5465 0.00 0.00 13.10 1.587 8230 0.000 0.000 2631 2097 2467 2537 2397 0 0 0 0 0 0 14.33 14.03 13.24

5752 0.13 233.3 2631 2097 2529 2389 314.1 9.4 413 5772 0.00 0.00 18.23 1.540 8230 0.000 0.000 2630 2097 2418 2482 2355 0 0 0 0 0 0 14.33 14.01 13.26

6051 0.14 251.0 2631 2097 2472 2341 286.3 9.2 423 6083 0.00 0.00 27.30 1.461 8230 0.000 0.000 2636 2097 2336 2398 2275 0 0 0 0 0 0 14.34 14.02 13.26

6381 0.20 277.9 2631 2098 2392 2270 257.0 8.8 434 6424 0.00 0.00 41.70 1.385 8358 0.000 0.000 2631 2097 2232 2294 2171 0 0 0 0 0 0 14.42 13.97 13.28

6711 0.29 324.6 2631 2098 2284 2159 230.0 7.8 445 6791 0.12 2.55 73.47 1.290 10916 0.129 0.085 2699 690 2037 2090 1984 0 0 0 0 0 0 14.14 13.81 13.19

6826 0.33 324.6 2699 689 2082 1991 217.2 11.0 468 6832 0.00 2.53 0.00 0.000 1158 0.000 0.076 2699 2103 2032 2082 1982 0 0 0 0 0 0 13.97 13.87 13.97

7131 0.33 324.6 2699 2105 2080 1974 183.5 10.7 479 7132 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2105 2027 2080 1975 0 0 0 0 0 0 14.37 14.38 14.38

7431 0.33 331.5 2699 2105 2084 1972 153.5 9.7 489 7435 0.00 0.00 2.62 1.032 8230 0.000 0.000 2699 2104 2013 2066 1960 0 0 0 0 0 0 14.46 14.16 12.95

7731 0.35 348.7 2698 2105 2073 1967 125.4 9.2 499 7768 0.00 2.50 31.62 1.342 8740 0.000 0.084 2699 691 1939 1989 1890 0 0 0 0 0 0 14.48 13.93 13.38

7778 0.40 370.7 2700 691 1986 1890 121.2 9.0 503 7818 0.00 2.47 33.15 1.288 9382 0.000 0.077 2694 2103 1850 1889 1811 0 0 0 0 0 0 14.16 14.08 13.29

8124 0.51 413.6 2699 2104 1881 1802 92.2 8.0 528 8148 0.12 0.00 22.30 0.487 10918 0.134 0.000 2763 2099 1677 1712 1642 0 0 0 0 0 0 14.13 14.00 13.62

8443 0.51 413.6 2758 2104 1712 1641 55.2 10.5 562 8448 0.00 2.50 0.00 0.000 516 0.000 0.086 2768 684 1677 1715 1639 0 0 0 0 0 0 14.41 14.04 14.42

8544 0.57 439.9 2768 684 1709 1639 45.6 8.8 582 8566 0.00 2.47 14.40 0.344 9382 0.000 0.079 2768 2099 1569 1606 1532 0 0 0 0 0 0 14.16 14.05 13.75

8864 0.68 513.5 2768 2100 1607 1529 20.0 6.6 616 8905 0.00 0.00 39.83 0.269 8870 0.000 0.000 2768 2099 1272 1338 1207 0 0 0 0 0 0 14.44 14.17 13.90

9133 end climb: NO_VERTICAL_VELOCITY

state 9133 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	71	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	206.0
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	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,225229,7212.9180,-14801.2139,40,0.8,43,21.3,0.0,61.0,10,9.8	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	1.28	MHEAD_RNG_PITCHd_Wd	319.3,124563,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	140817,230255,7212.9116,-14801.2959,10,0.8,10,21.3,0.0,244.5,11,8.1

MODEM_MSG	CACST,6,1,20170815001348.525036,3,17,06,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	57725312
FREEZE	13.91,5.990,-1.382,0,1,0	_24V_AH	12.54,76.260
SM_CCo	9140,102.60,0.249,0,0,500,702.78	_10V_AH	12.47,0.000
SM_GC	1.20,7.82,0.17,0.00,0.075,0.120,0.000,201,2213,496,-7.38,-0.74,703.77,0,0,0,0,0,0,14.23,14.23,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	275	FG_AHR_10Vo	0.000
MODEM	2,1502756028,73.18300,-149.96500,81.525,117692.3	MEM	323888
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	DATA_FILE_SIZE	23375,644
IRIDIUM_FIX	7211.05,-14801.91,140817,201349	CAP_FILE_SIZE	96716,0
TT8_MAMPS	0.038948,0.89131	CFSIZE	2097872896,2066939904
HUMID	48.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1450.2
TCM_TEMP	13.30	CURRENT	0.070,252.73,1
XPDR_PINGS	10	GPS	150817,014148,7214.042,-14803.011,18,0.7,21,21.3,0.4,204.6,12,9.4
CP_FREE	16007331840.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	449	134.11	nil	0	0	0.00
Roll_motor	69	2148	1878.89	nil	0	0	0.00
VBD_pump_during_apogee	823	1669	17247.61	nil	0	0	0.00
VBD_pump_during_surface	102	248	319.88	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	9161	14	1658.16
Iridium_during_xfer	356	182	817.42	NCP	9154	20	2295.82
Transponder_ping	2	420	13.17	PMAR	9109	16	1895.59
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.14
TT8	0	0	0.00
LPSleep	6980	2	201.09
TT8_Active	856	13	149.14
TT8_Sampling	1962	33	818.26
TT8_CF8	273	38	131.72
TT8_Kalman	0	0	0.00
Analog_circuits	1951	10	243.41
GPS_charging	0	0	0.00
Compass	925	7	80.82
RAFOS	2159	48	1292.29
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	174	2215	520	453	0.0	0.0	0	129	0.00	0.00	-81.12	0.000	16386	0.000	0.000	172	2215	2069	1986	2152	0	0	0	0	0	0	14.35	28.83	14.38
132	-0.57	-145.9	173	2215	1992	2153	3.6	-4.1	8	185	12.52	2.78	-35.22	0.000	18724	0.450	2.148	2380	3601	3964	3950	3979	0	0	0	0	0	0	13.71	12.67	14.12
410	-0.57	-145.9	2381	3602	3961	3979	63.3	-15.1	63	417	0.00	2.40	0.00	0.000	1030	0.000	0.057	2380	2196	3969	3960	3979	0	0	0	0	0	0	14.12	13.95	14.14
717	-0.57	-145.9	2380	2195	3963	3980	108.2	-13.3	90	722	0.00	2.47	0.00	0.000	260	0.000	0.085	2376	3601	3970	3962	3979	0	0	0	0	0	0	14.46	14.14	14.47
782	-0.72	-145.9	2382	3601	3965	3979	115.9	-10.1	103	788	0.00	2.38	0.00	0.000	1158	0.000	0.055	2376	2198	3970	3962	3979	0	0	0	0	0	0	14.28	14.18	14.31
1108	-0.78	-145.9	2377	2199	3963	3980	153.4	-11.5	118	1113	0.15	2.47	0.00	0.000	4484	0.133	0.083	2305	3607	3971	3962	3980	0	0	0	0	0	0	14.14	14.14	14.21
1173	-0.78	-145.9	2306	3608	3962	3980	163.1	-15.2	131	1179	0.00	2.40	0.00	0.000	1030	0.000	0.058	2305	2193	3970	3962	3979	0	0	0	0	0	0	14.29	14.15	14.33
1500	-0.73	-145.9	2306	2193	3962	3980	216.0	-15.5	146	1505	0.12	2.47	0.00	0.000	2436	0.283	0.082	2326	3609	3970	3962	3979	0	0	0	0	0	0	13.97	14.19	14.14
1592	-0.83	-145.9	2326	3610	3961	3980	226.4	-10.3	164	1596	0.00	2.38	0.00	0.000	1158	0.000	0.056	2325	2198	3971	3962	3981	0	0	0	0	0	0	14.33	14.23	14.37
1922	-0.86	-145.9	2326	2196	3963	3977	264.1	-11.2	180	1926	0.00	2.47	0.00	0.000	388	0.000	0.086	2319	3604	3969	3962	3977	0	0	0	0	0	0	14.57	14.16	14.57
1977	-0.97	-145.9	2319	3606	3962	3978	270.0	-10.3	191	1984	0.15	2.38	0.00	0.000	5254	0.123	0.058	2259	2201	3967	3957	3978	0	0	0	0	0	0	14.24	14.18	14.33
2282	-0.88	-145.9	2259	2200	3965	3976	318.5	-15.9	202	2287	0.15	2.45	0.00	0.000	2436	0.314	0.081	2282	3603	3967	3961	3973	0	0	0	0	0	0	13.93	14.20	14.12
2384	-0.91	-145.9	2283	3603	3962	3974	331.6	-12.1	222	2388	0.00	2.38	0.00	0.000	1158	0.000	0.059	2282	2200	3967	3961	3974	0	0	0	0	0	0	14.35	14.23	14.38
2704	-0.88	-145.9	2283	2200	3962	3973	373.1	-12.9	236	2709	0.00	2.45	0.00	0.000	388	0.000	0.086	2280	3601	3967	3961	3973	0	0	0	0	0	0	14.55	14.16	14.57
2784	-0.91	-145.9	2280	3602	3961	3973	383.0	-11.9	252	2789	0.00	2.38	0.00	0.000	1158	0.000	0.060	2280	2199	3966	3959	3973	0	0	0	0	0	0	14.35	14.23	14.37
3094	-0.88	-145.9	2281	2198	3962	3971	422.8	-12.8	264	3099	0.00	2.47	0.00	0.000	388	0.000	0.085	2274	3610	3966	3961	3971	0	0	0	0	0	0	14.56	14.19	14.57
3164	-0.91	-145.9	2274	3611	3961	3968	431.6	-12.1	278	3169	0.00	2.40	0.00	0.000	1158	0.000	0.058	2271	2194	3965	3960	3971	0	0	0	0	0	0	14.34	14.22	14.37
3486	-0.88	-145.9	2273	2195	3961	3971	473.5	-13.1	292	3491	0.00	2.50	0.00	0.000	388	0.000	0.085	2267	3605	3964	3959	3970	0	0	0	0	0	0	14.44	14.07	14.45
3533	end dive: TARGET_DEPTH_EXCEEDED
state	3533	begin apogee
3541	-0.13	0.0	2267	2103	3961	3972	480.4	-12.8	302	3767	1.05	0.00	222.45	1.394	10246	0.251	0.000	2529	2101	3363	3395	3331	0	0	0	0	0	0	13.88	13.43	12.77
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3773	0.57	145.9	2529	2102	3391	3322	490.8	0.0	309	3983	0.75	2.67	201.90	1.365	10756	0.066	0.077	2791	689	2762	2820	2705	0	0	0	0	0	0	13.49	13.06	12.54
4125	0.23	145.9	2791	689	2804	2701	470.8	16.2	338	4131	0.62	2.58	0.00	0.000	5254	0.315	0.075	2662	2099	2751	2803	2699	0	0	0	0	0	0	13.30	13.54	13.59
4430	0.09	145.9	2660	2100	2802	2695	439.1	10.0	349	4435	0.17	2.53	0.00	0.000	4740	0.308	0.076	2631	683	2747	2801	2694	0	0	0	0	0	0	13.64	13.85	13.81
4475	0.13	189.5	2631	684	2802	2694	435.3	8.0	358	4540	0.00	2.53	60.78	1.372	9254	0.000	0.079	2630	2097	2593	2659	2527	0	0	0	0	0	0	14.00	13.90	13.01
4851	0.11	201.5	2630	2097	2648	2503	400.0	9.4	383	4864	0.00	0.00	11.85	1.601	8358	0.000	0.000	2631	2101	2544	2617	2472	0	0	0	0	0	0	14.19	13.95	13.16
5151	0.11	210.6	2631	2097	2607	2460	371.3	9.6	393	5161	0.00	0.00	8.90	1.670	8230	0.000	0.000	2631	2097	2508	2581	2436	0	0	0	0	0	0	14.28	14.02	13.19
5450	0.12	220.3	2631	2103	2572	2429	342.6	9.6	403	5465	0.00	0.00	13.10	1.587	8230	0.000	0.000	2631	2097	2467	2537	2397	0	0	0	0	0	0	14.33	14.03	13.24
5752	0.13	233.3	2631	2097	2529	2389	314.1	9.4	413	5772	0.00	0.00	18.23	1.540	8230	0.000	0.000	2630	2097	2418	2482	2355	0	0	0	0	0	0	14.33	14.01	13.26
6051	0.14	251.0	2631	2097	2472	2341	286.3	9.2	423	6083	0.00	0.00	27.30	1.461	8230	0.000	0.000	2636	2097	2336	2398	2275	0	0	0	0	0	0	14.34	14.02	13.26
6381	0.20	277.9	2631	2098	2392	2270	257.0	8.8	434	6424	0.00	0.00	41.70	1.385	8358	0.000	0.000	2631	2097	2232	2294	2171	0	0	0	0	0	0	14.42	13.97	13.28
6711	0.29	324.6	2631	2098	2284	2159	230.0	7.8	445	6791	0.12	2.55	73.47	1.290	10916	0.129	0.085	2699	690	2037	2090	1984	0	0	0	0	0	0	14.14	13.81	13.19
6826	0.33	324.6	2699	689	2082	1991	217.2	11.0	468	6832	0.00	2.53	0.00	0.000	1158	0.000	0.076	2699	2103	2032	2082	1982	0	0	0	0	0	0	13.97	13.87	13.97
7131	0.33	324.6	2699	2105	2080	1974	183.5	10.7	479	7132	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2105	2027	2080	1975	0	0	0	0	0	0	14.37	14.38	14.38
7431	0.33	331.5	2699	2105	2084	1972	153.5	9.7	489	7435	0.00	0.00	2.62	1.032	8230	0.000	0.000	2699	2104	2013	2066	1960	0	0	0	0	0	0	14.46	14.16	12.95
7731	0.35	348.7	2698	2105	2073	1967	125.4	9.2	499	7768	0.00	2.50	31.62	1.342	8740	0.000	0.084	2699	691	1939	1989	1890	0	0	0	0	0	0	14.48	13.93	13.38
7778	0.40	370.7	2700	691	1986	1890	121.2	9.0	503	7818	0.00	2.47	33.15	1.288	9382	0.000	0.077	2694	2103	1850	1889	1811	0	0	0	0	0	0	14.16	14.08	13.29
8124	0.51	413.6	2699	2104	1881	1802	92.2	8.0	528	8148	0.12	0.00	22.30	0.487	10918	0.134	0.000	2763	2099	1677	1712	1642	0	0	0	0	0	0	14.13	14.00	13.62
8443	0.51	413.6	2758	2104	1712	1641	55.2	10.5	562	8448	0.00	2.50	0.00	0.000	516	0.000	0.086	2768	684	1677	1715	1639	0	0	0	0	0	0	14.41	14.04	14.42
8544	0.57	439.9	2768	684	1709	1639	45.6	8.8	582	8566	0.00	2.47	14.40	0.344	9382	0.000	0.079	2768	2099	1569	1606	1532	0	0	0	0	0	0	14.16	14.05	13.75
8864	0.68	513.5	2768	2100	1607	1529	20.0	6.6	616	8905	0.00	0.00	39.83	0.269	8870	0.000	0.000	2768	2099	1272	1338	1207	0	0	0	0	0	0	14.44	14.17	13.90
9133	end climb: NO_VERTICAL_VELOCITY
state	9133	begin surface