Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 74 * 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 74 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 215.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 215.0 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 26 VBD_MIN 500

DIVE 74 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 150817,070825,7216.4683,-14806.6270,23,0.7,34,21.3,0.8,62.9,12,7.2 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 322.9,117257,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.8 D_GRID 480

GPS2 150817,072437,7216.5127,-14807.0195,7,0.8,15,21.3,0.5,284.0,10,8.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170815081347.603845,3,194,22,0323,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C PM_FREEKB_00 57506368

FREEZE 13.02,5.428,-1.418,0,1,0 _24V_AH 12.55,77.680

SM_CCo 9012,0.00,0.000,0,0,500,702.78 _10V_AH 12.46,0.000

SM_GC 1.19,8.05,0.17,0.00,0.085,0.114,0.000,206,2223,500,-7.37,-0.68,702.78,0,0,0,0,0,0,14.23,14.26,14.50 FG_AHR_24Vo 0.000

RAFOS_CLK 309 FG_AHR_10Vo 0.000

MODEM 2,1502784827,73.18300,-149.96500,80.604,116920.4 MEM 323700

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 DATA_FILE_SIZE 26714,744

IRIDIUM_FIX 7217.35,-14806.42,150817,071806 CAP_FILE_SIZE 101559,0

TT8_MAMPS 0.038948,0.885318 CFSIZE 2097872896,2066022400

HUMID 48.54 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1450.2

TCM_TEMP 13.30 CURRENT 0.071,262.53,1

XPDR_PINGS 6 GPS 150817,095624,7217.586,-14808.393,12,0.7,15,21.3,0.0,0.0,11,9.0

CP_FREE 16006840320.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.43 nil 0 0 0.00

Roll_motor 69 2154 1877.63 nil 0 0 0.00

VBD_pump_during_apogee 905 1428 16238.34 nil 0 0 0.00

VBD_pump_during_surface 96 247 301.50 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 8811 14 1595.31

Iridium_during_xfer 580 159 1158.83 NCP 8812 20 2211.81

Transponder_ping 1 420 7.91 PMAR 8761 16 1823.86

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.56

TT8 0 0 0.00

LPSleep 6540 2 188.26

TT8_Active 1016 13 176.91

TT8_Sampling 2158 33 899.55

TT8_CF8 285 38 137.62

TT8_Kalman 0 0 0.00

Analog_circuits 2287 10 285.04

GPS_charging 0 0 0.00

Compass 1067 7 93.07

RAFOS 2199 48 1315.18

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 169 2233 515 471 0.0 0.0 0 130 0.00 0.00 -81.43 0.000 16386 0.000 0.000 167 2232 2117 2039 2196 0 0 0 0 0 0 14.39 28.83 14.41

133 -0.57 -145.9 167 2232 2042 2197 3.9 -5.2 8 186 12.73 2.70 -33.12 0.000 18724 0.457 2.154 2375 3594 3967 3952 3983 0 0 0 0 0 0 13.71 12.69 14.13

411 -0.57 -145.9 2376 3595 3962 3977 64.7 -15.7 63 418 0.00 2.40 0.00 0.000 1030 0.000 0.057 2377 2194 3969 3961 3977 0 0 0 0 0 0 14.09 14.00 14.13

728 -0.57 -145.9 2376 2190 3963 3978 112.7 -14.0 89 733 0.00 2.47 0.00 0.000 260 0.000 0.083 2365 3601 3970 3963 3977 0 0 0 0 0 0 14.46 14.14 14.47

843 -0.67 -145.9 2366 3602 3963 3978 126.6 -11.1 112 849 0.00 2.38 0.00 0.000 1158 0.000 0.053 2365 2193 3970 3963 3977 0 0 0 0 0 0 14.26 14.17 14.29

1148 -0.71 -145.9 2367 2193 3965 3978 163.9 -11.9 123 1154 0.00 2.47 0.00 0.000 388 0.000 0.085 2359 3600 3969 3962 3977 0 0 0 0 0 0 14.51 14.15 14.52

1209 -0.87 -145.9 2362 3601 3963 3978 170.4 -9.5 135 1216 0.20 2.35 0.00 0.000 5286 0.105 0.054 2284 2200 3970 3964 3977 0 0 0 0 0 0 14.26 14.23 14.34

1541 -0.79 -145.9 2285 2199 3964 3975 227.3 -16.7 151 1547 0.12 2.45 0.00 0.000 2436 0.297 0.082 2305 3600 3968 3962 3974 0 0 0 0 0 0 14.00 14.15 14.17

1627 -0.85 -145.9 2306 3601 3961 3976 238.8 -11.9 168 1633 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2202 3967 3959 3975 0 0 0 0 0 0 14.31 14.19 14.33

1932 -0.85 -145.9 2306 2201 3963 3972 277.1 -12.2 179 1938 0.00 2.45 0.00 0.000 260 0.000 0.086 2300 3601 3967 3962 3973 0 0 0 0 0 0 14.56 14.20 14.59

1983 -0.90 -145.9 2301 3601 3963 3973 283.2 -11.5 189 1988 0.00 2.38 0.00 0.000 1158 0.000 0.058 2300 2199 3967 3961 3973 0 0 0 0 0 0 14.35 14.24 14.38

2293 -0.90 -145.9 2300 2199 3962 3972 320.3 -11.9 201 2298 0.00 2.47 0.00 0.000 260 0.000 0.085 2293 3597 3966 3961 3971 0 0 0 0 0 0 14.43 14.10 14.45

2358 -0.96 -145.9 2294 3598 3962 3971 327.9 -11.0 214 2363 0.00 2.40 0.00 0.000 1158 0.000 0.057 2294 2196 3966 3961 3971 0 0 0 0 0 0 14.24 14.13 14.26

2683 -0.96 -145.9 2294 2194 3962 3969 366.7 -11.9 229 2688 0.00 2.47 0.00 0.000 260 0.000 0.086 2294 3594 3965 3961 3970 0 0 0 0 0 0 14.40 14.06 14.41

2753 -1.04 -145.9 2294 3595 3962 3970 374.6 -10.7 243 2759 0.15 2.38 0.00 0.000 5254 0.125 0.056 2240 2199 3965 3961 3969 0 0 0 0 0 0 14.12 14.10 14.21

3074 -0.93 -145.9 2241 2198 3961 3968 425.9 -16.3 257 3079 0.17 2.47 0.00 0.000 2436 0.303 0.081 2269 3598 3964 3960 3968 0 0 0 0 0 0 13.78 14.01 13.97

3204 -0.93 -145.9 2269 3600 3961 3968 443.4 -12.7 283 3210 0.00 2.40 0.00 0.000 1030 0.000 0.057 2269 2200 3963 3960 3967 0 0 0 0 0 0 14.19 14.08 14.22

3493 end dive: TARGET_DEPTH_EXCEEDED

state 3493 begin apogee

3499 -0.13 0.0 2269 2060 3960 3968 483.1 -13.7 296 3780 1.05 0.00 277.08 1.301 10246 0.256 0.000 2527 2057 3366 3397 3335 0 0 0 0 0 0 13.81 13.33 12.72

3784 end apogee: CONTROL_FINISHED_OK

state 3784 begin climb

3786 0.57 145.9 2527 2057 3395 3328 496.7 0.0 305 3998 0.75 2.75 199.45 1.335 11012 0.063 0.076 2773 3491 2762 2819 2706 0 0 0 0 0 0 13.40 13.16 12.55

4223 0.16 145.9 2776 3492 2788 2705 459.6 17.3 387 4229 0.70 2.40 0.00 0.000 5254 0.343 0.057 2642 2125 2746 2788 2704 0 0 0 0 0 0 13.40 13.70 13.73

4535 0.08 166.9 2642 2126 2789 2704 430.0 9.0 399 4567 0.15 0.00 25.23 1.428 12454 0.298 0.000 2611 2125 2680 2730 2630 0 0 0 0 0 0 13.75 13.67 13.15

4866 0.11 210.1 2612 2125 2719 2613 403.8 8.0 410 4932 0.00 0.00 63.88 1.346 8230 0.000 0.000 2611 2125 2508 2570 2446 0 0 0 0 0 0 14.33 13.83 13.16

5225 0.17 247.1 2612 2125 2552 2423 373.8 8.3 422 5286 0.00 2.58 53.75 1.343 8868 0.000 0.085 2615 693 2348 2405 2292 0 0 0 0 0 0 14.35 13.85 13.19

5333 0.32 289.5 2615 694 2394 2288 365.2 8.0 443 5402 0.22 2.47 62.17 1.311 11430 0.093 0.079 2698 2086 2182 2240 2124 0 0 0 0 0 0 13.98 13.93 13.07

5707 0.25 289.5 2698 2087 2221 2101 310.8 14.8 468 5708 0.15 0.00 0.00 0.000 4230 0.234 0.000 2666 2087 2160 2221 2100 0 0 0 0 0 0 13.91 14.18 14.13

6007 0.25 289.5 2667 2088 2218 2098 274.9 11.7 478 6012 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 688 2157 2218 2097 0 0 0 0 0 0 14.45 14.13 14.46

6067 0.30 289.5 2672 689 2216 2098 268.2 10.8 490 6072 0.00 2.45 0.00 0.000 1158 0.000 0.079 2672 2099 2156 2216 2097 0 0 0 0 0 0 14.30 14.19 14.35

6397 0.30 289.5 2672 2101 2216 2098 230.7 11.0 506 6398 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2100 2156 2215 2097 0 0 0 0 0 0 14.52 14.53 14.53

6697 0.31 303.7 2673 2100 2216 2096 201.2 9.3 516 6702 0.00 0.00 3.92 1.322 8230 0.000 0.000 2672 2100 2129 2187 2071 0 0 0 0 0 0 14.54 14.22 13.03

6997 0.36 340.1 2673 2101 2202 2085 175.5 8.3 526 7082 0.00 2.53 79.05 1.247 8868 0.000 0.083 2672 691 1973 2026 1921 0 0 0 0 0 0 14.54 13.78 13.29

7148 0.53 386.0 2673 692 2012 1919 163.6 7.9 556 7233 0.25 2.50 77.78 1.202 11430 0.095 0.080 2769 2099 1788 1821 1756 0 0 0 0 0 0 14.02 13.96 13.13

7538 0.46 386.0 2769 2100 1806 1736 107.5 14.0 584 7543 0.15 2.50 0.00 0.000 4740 0.272 0.081 2743 689 1770 1805 1735 0 0 0 0 0 0 13.75 13.98 13.90

7573 0.49 386.0 2743 690 1803 1736 103.1 11.6 591 7579 0.00 2.50 0.00 0.000 1158 0.000 0.078 2743 2097 1769 1803 1735 0 0 0 0 0 0 13.69 13.71 13.95

7879 0.49 390.3 2744 2099 1804 1733 70.0 9.8 624 7880 0.00 0.00 0.00 0.000 38 0.000 0.000 2743 2098 1768 1803 1733 0 0 0 0 0 0 14.40 14.42 14.43

8181 0.55 438.9 2744 2098 1803 1732 43.9 7.8 654 8213 0.00 2.50 24.77 0.336 8612 0.000 0.082 2740 3518 1573 1610 1537 0 0 0 0 0 0 14.45 14.04 13.82

8439 0.70 513.7 2744 3519 1611 1544 25.8 6.5 705 8482 0.17 2.42 38.85 0.288 11430 0.103 0.063 2816 2103 1270 1327 1214 0 0 0 0 0 0 14.19 14.15 13.87

8785 end climb: NO_VERTICAL_VELOCITY

state 8785 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	74	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	215.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,070825,7216.4683,-14806.6270,23,0.7,34,21.3,0.8,62.9,12,7.2	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	322.9,117257,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.8	D_GRID	480
GPS2	150817,072437,7216.5127,-14807.0195,7,0.8,15,21.3,0.5,284.0,10,8.1

MODEM_MSG	CACST,6,1,20170815081347.603845,3,194,22,0323,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C	PM_FREEKB_00	57506368
FREEZE	13.02,5.428,-1.418,0,1,0	_24V_AH	12.55,77.680
SM_CCo	9012,0.00,0.000,0,0,500,702.78	_10V_AH	12.46,0.000
SM_GC	1.19,8.05,0.17,0.00,0.085,0.114,0.000,206,2223,500,-7.37,-0.68,702.78,0,0,0,0,0,0,14.23,14.26,14.50	FG_AHR_24Vo	0.000
RAFOS_CLK	309	FG_AHR_10Vo	0.000
MODEM	2,1502784827,73.18300,-149.96500,80.604,116920.4	MEM	323700
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	DATA_FILE_SIZE	26714,744
IRIDIUM_FIX	7217.35,-14806.42,150817,071806	CAP_FILE_SIZE	101559,0
TT8_MAMPS	0.038948,0.885318	CFSIZE	2097872896,2066022400
HUMID	48.54	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1450.2
TCM_TEMP	13.30	CURRENT	0.071,262.53,1
XPDR_PINGS	6	GPS	150817,095624,7217.586,-14808.393,12,0.7,15,21.3,0.0,0.0,11,9.0
CP_FREE	16006840320.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.43	nil	0	0	0.00
Roll_motor	69	2154	1877.63	nil	0	0	0.00
VBD_pump_during_apogee	905	1428	16238.34	nil	0	0	0.00
VBD_pump_during_surface	96	247	301.50	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	8811	14	1595.31
Iridium_during_xfer	580	159	1158.83	NCP	8812	20	2211.81
Transponder_ping	1	420	7.91	PMAR	8761	16	1823.86
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.56
TT8	0	0	0.00
LPSleep	6540	2	188.26
TT8_Active	1016	13	176.91
TT8_Sampling	2158	33	899.55
TT8_CF8	285	38	137.62
TT8_Kalman	0	0	0.00
Analog_circuits	2287	10	285.04
GPS_charging	0	0	0.00
Compass	1067	7	93.07
RAFOS	2199	48	1315.18
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	169	2233	515	471	0.0	0.0	0	130	0.00	0.00	-81.43	0.000	16386	0.000	0.000	167	2232	2117	2039	2196	0	0	0	0	0	0	14.39	28.83	14.41
133	-0.57	-145.9	167	2232	2042	2197	3.9	-5.2	8	186	12.73	2.70	-33.12	0.000	18724	0.457	2.154	2375	3594	3967	3952	3983	0	0	0	0	0	0	13.71	12.69	14.13
411	-0.57	-145.9	2376	3595	3962	3977	64.7	-15.7	63	418	0.00	2.40	0.00	0.000	1030	0.000	0.057	2377	2194	3969	3961	3977	0	0	0	0	0	0	14.09	14.00	14.13
728	-0.57	-145.9	2376	2190	3963	3978	112.7	-14.0	89	733	0.00	2.47	0.00	0.000	260	0.000	0.083	2365	3601	3970	3963	3977	0	0	0	0	0	0	14.46	14.14	14.47
843	-0.67	-145.9	2366	3602	3963	3978	126.6	-11.1	112	849	0.00	2.38	0.00	0.000	1158	0.000	0.053	2365	2193	3970	3963	3977	0	0	0	0	0	0	14.26	14.17	14.29
1148	-0.71	-145.9	2367	2193	3965	3978	163.9	-11.9	123	1154	0.00	2.47	0.00	0.000	388	0.000	0.085	2359	3600	3969	3962	3977	0	0	0	0	0	0	14.51	14.15	14.52
1209	-0.87	-145.9	2362	3601	3963	3978	170.4	-9.5	135	1216	0.20	2.35	0.00	0.000	5286	0.105	0.054	2284	2200	3970	3964	3977	0	0	0	0	0	0	14.26	14.23	14.34
1541	-0.79	-145.9	2285	2199	3964	3975	227.3	-16.7	151	1547	0.12	2.45	0.00	0.000	2436	0.297	0.082	2305	3600	3968	3962	3974	0	0	0	0	0	0	14.00	14.15	14.17
1627	-0.85	-145.9	2306	3601	3961	3976	238.8	-11.9	168	1633	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2202	3967	3959	3975	0	0	0	0	0	0	14.31	14.19	14.33
1932	-0.85	-145.9	2306	2201	3963	3972	277.1	-12.2	179	1938	0.00	2.45	0.00	0.000	260	0.000	0.086	2300	3601	3967	3962	3973	0	0	0	0	0	0	14.56	14.20	14.59
1983	-0.90	-145.9	2301	3601	3963	3973	283.2	-11.5	189	1988	0.00	2.38	0.00	0.000	1158	0.000	0.058	2300	2199	3967	3961	3973	0	0	0	0	0	0	14.35	14.24	14.38
2293	-0.90	-145.9	2300	2199	3962	3972	320.3	-11.9	201	2298	0.00	2.47	0.00	0.000	260	0.000	0.085	2293	3597	3966	3961	3971	0	0	0	0	0	0	14.43	14.10	14.45
2358	-0.96	-145.9	2294	3598	3962	3971	327.9	-11.0	214	2363	0.00	2.40	0.00	0.000	1158	0.000	0.057	2294	2196	3966	3961	3971	0	0	0	0	0	0	14.24	14.13	14.26
2683	-0.96	-145.9	2294	2194	3962	3969	366.7	-11.9	229	2688	0.00	2.47	0.00	0.000	260	0.000	0.086	2294	3594	3965	3961	3970	0	0	0	0	0	0	14.40	14.06	14.41
2753	-1.04	-145.9	2294	3595	3962	3970	374.6	-10.7	243	2759	0.15	2.38	0.00	0.000	5254	0.125	0.056	2240	2199	3965	3961	3969	0	0	0	0	0	0	14.12	14.10	14.21
3074	-0.93	-145.9	2241	2198	3961	3968	425.9	-16.3	257	3079	0.17	2.47	0.00	0.000	2436	0.303	0.081	2269	3598	3964	3960	3968	0	0	0	0	0	0	13.78	14.01	13.97
3204	-0.93	-145.9	2269	3600	3961	3968	443.4	-12.7	283	3210	0.00	2.40	0.00	0.000	1030	0.000	0.057	2269	2200	3963	3960	3967	0	0	0	0	0	0	14.19	14.08	14.22
3493	end dive: TARGET_DEPTH_EXCEEDED
state	3493	begin apogee
3499	-0.13	0.0	2269	2060	3960	3968	483.1	-13.7	296	3780	1.05	0.00	277.08	1.301	10246	0.256	0.000	2527	2057	3366	3397	3335	0	0	0	0	0	0	13.81	13.33	12.72
3784	end apogee: CONTROL_FINISHED_OK
state	3784	begin climb
3786	0.57	145.9	2527	2057	3395	3328	496.7	0.0	305	3998	0.75	2.75	199.45	1.335	11012	0.063	0.076	2773	3491	2762	2819	2706	0	0	0	0	0	0	13.40	13.16	12.55
4223	0.16	145.9	2776	3492	2788	2705	459.6	17.3	387	4229	0.70	2.40	0.00	0.000	5254	0.343	0.057	2642	2125	2746	2788	2704	0	0	0	0	0	0	13.40	13.70	13.73
4535	0.08	166.9	2642	2126	2789	2704	430.0	9.0	399	4567	0.15	0.00	25.23	1.428	12454	0.298	0.000	2611	2125	2680	2730	2630	0	0	0	0	0	0	13.75	13.67	13.15
4866	0.11	210.1	2612	2125	2719	2613	403.8	8.0	410	4932	0.00	0.00	63.88	1.346	8230	0.000	0.000	2611	2125	2508	2570	2446	0	0	0	0	0	0	14.33	13.83	13.16
5225	0.17	247.1	2612	2125	2552	2423	373.8	8.3	422	5286	0.00	2.58	53.75	1.343	8868	0.000	0.085	2615	693	2348	2405	2292	0	0	0	0	0	0	14.35	13.85	13.19
5333	0.32	289.5	2615	694	2394	2288	365.2	8.0	443	5402	0.22	2.47	62.17	1.311	11430	0.093	0.079	2698	2086	2182	2240	2124	0	0	0	0	0	0	13.98	13.93	13.07
5707	0.25	289.5	2698	2087	2221	2101	310.8	14.8	468	5708	0.15	0.00	0.00	0.000	4230	0.234	0.000	2666	2087	2160	2221	2100	0	0	0	0	0	0	13.91	14.18	14.13
6007	0.25	289.5	2667	2088	2218	2098	274.9	11.7	478	6012	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	688	2157	2218	2097	0	0	0	0	0	0	14.45	14.13	14.46
6067	0.30	289.5	2672	689	2216	2098	268.2	10.8	490	6072	0.00	2.45	0.00	0.000	1158	0.000	0.079	2672	2099	2156	2216	2097	0	0	0	0	0	0	14.30	14.19	14.35
6397	0.30	289.5	2672	2101	2216	2098	230.7	11.0	506	6398	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2100	2156	2215	2097	0	0	0	0	0	0	14.52	14.53	14.53
6697	0.31	303.7	2673	2100	2216	2096	201.2	9.3	516	6702	0.00	0.00	3.92	1.322	8230	0.000	0.000	2672	2100	2129	2187	2071	0	0	0	0	0	0	14.54	14.22	13.03
6997	0.36	340.1	2673	2101	2202	2085	175.5	8.3	526	7082	0.00	2.53	79.05	1.247	8868	0.000	0.083	2672	691	1973	2026	1921	0	0	0	0	0	0	14.54	13.78	13.29
7148	0.53	386.0	2673	692	2012	1919	163.6	7.9	556	7233	0.25	2.50	77.78	1.202	11430	0.095	0.080	2769	2099	1788	1821	1756	0	0	0	0	0	0	14.02	13.96	13.13
7538	0.46	386.0	2769	2100	1806	1736	107.5	14.0	584	7543	0.15	2.50	0.00	0.000	4740	0.272	0.081	2743	689	1770	1805	1735	0	0	0	0	0	0	13.75	13.98	13.90
7573	0.49	386.0	2743	690	1803	1736	103.1	11.6	591	7579	0.00	2.50	0.00	0.000	1158	0.000	0.078	2743	2097	1769	1803	1735	0	0	0	0	0	0	13.69	13.71	13.95
7879	0.49	390.3	2744	2099	1804	1733	70.0	9.8	624	7880	0.00	0.00	0.00	0.000	38	0.000	0.000	2743	2098	1768	1803	1733	0	0	0	0	0	0	14.40	14.42	14.43
8181	0.55	438.9	2744	2098	1803	1732	43.9	7.8	654	8213	0.00	2.50	24.77	0.336	8612	0.000	0.082	2740	3518	1573	1610	1537	0	0	0	0	0	0	14.45	14.04	13.82
8439	0.70	513.7	2744	3519	1611	1544	25.8	6.5	705	8482	0.17	2.42	38.85	0.288	11430	0.103	0.063	2816	2103	1270	1327	1214	0	0	0	0	0	0	14.19	14.15	13.87
8785	end climb: NO_VERTICAL_VELOCITY
state	8785	begin surface