Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 61 * 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 61 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 179.0

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 57 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 179.0 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 57 VBD_MIN 500

DIVE 61 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 130817,183553,7201.6431,-14747.1455,18,0.7,42,21.3,0.5,56.7,11,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 324.9,146274,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.6 D_GRID 480

GPS2 130817,185627,7201.7217,-14747.4199,8,0.9,13,21.3,0.8,44.3,11,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813202208.573741,3,30,08,0150,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 58480704

FREEZE 13.36,6.573,-1.389,0,1,0 _24V_AH 12.64,71.638

SM_CCo 9001,98.47,0.249,0,0,501,702.78 _10V_AH 12.53,0.000

SM_GC 1.24,7.93,0.17,0.00,0.079,0.116,0.000,203,2221,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.29,14.24,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 238 FG_AHR_10Vo 0.000

MODEM 2,1502655245,73.18300,-149.96500,98.875,143567.6 MEM 323728

RAFOS_FIX 7228.703125,-14627.398438,130817,202006,2,255,13.68 DATA_FILE_SIZE 26727,779

IRIDIUM_FIX 7200.17,-14749.35,130817,184705 CAP_FILE_SIZE 112379,0

TT8_MAMPS 0.040446,0.948234 CFSIZE 2097872896,2069889024

HUMID 48.38 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1451.6

TCM_TEMP 13.20 CURRENT 0.052,271.47,1

XPDR_PINGS 14 GPS 130817,213350,7202.902,-14748.327,59,0.7,59,21.3,0.6,61.2,10,9.6

CP_FREE 16009003008.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 456 143.02 nil 0 0 0.00

Roll_motor 89 2138 2416.36 nil 0 0 0.00

VBD_pump_during_apogee 923 1475 17220.60 nil 0 0 0.00

VBD_pump_during_surface 98 248 309.47 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 8985 13 1586.24

Iridium_during_xfer 778 173 1708.09 NCP 9024 20 2281.27

Transponder_ping 3 420 18.58 PMAR 8969 16 1879.08

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.11

TT8 0 0 0.00

LPSleep 6818 2 197.35

TT8_Active 795 13 139.27

TT8_Sampling 2638 33 1105.73

TT8_CF8 301 38 146.03

TT8_Kalman 0 0 0.00

Analog_circuits 2537 10 317.89

GPS_charging 0 0 0.00

Compass 1125 7 98.69

RAFOS 2190 48 1317.15

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 -145.9 148 2206 508 465 0.0 0.0 0 129 0.00 0.00 -81.03 0.000 16386 0.000 0.000 145 2206 2187 2114 2261 0 0 0 0 0 0 14.35 28.83 14.36

132 -0.57 -145.9 145 2208 2117 2262 3.6 -4.9 8 185 12.95 2.80 -30.80 0.000 18724 0.457 2.139 2377 3616 3967 3953 3982 1 0 0 0 0 0 13.52 12.71 14.11

285 -0.55 -145.9 2377 3616 3960 3976 45.1 -18.7 38 290 0.00 2.38 0.00 0.000 1158 0.000 0.055 2377 2230 3967 3960 3975 0 0 0 0 0 0 14.05 13.95 14.07

596 -0.55 -145.9 2377 2228 3964 3975 97.7 -15.1 70 601 0.00 2.45 0.00 0.000 260 0.000 0.083 2368 3617 3969 3964 3975 0 0 0 0 0 0 14.40 14.01 14.42

671 -0.65 -145.9 2368 3619 3964 3976 107.8 -11.7 85 676 0.00 2.40 0.00 0.000 1158 0.000 0.056 2368 2202 3969 3963 3975 0 0 0 0 0 0 14.14 14.02 14.17

986 -0.68 -145.9 2368 2201 3964 3975 148.3 -12.7 98 991 0.00 2.50 0.00 0.000 388 0.000 0.086 2363 3614 3969 3963 3975 0 0 0 0 0 0 14.49 14.11 14.53

1021 -0.77 -145.9 2363 3615 3964 3975 152.6 -11.9 105 1026 0.00 2.40 0.00 0.000 1158 0.000 0.057 2362 2201 3969 3963 3975 0 0 0 0 0 0 14.27 14.16 14.30

1347 -0.84 -145.9 2363 2200 3964 3975 189.3 -10.8 120 1352 0.15 2.50 0.00 0.000 4484 0.125 0.084 2283 3617 3966 3963 3970 0 0 0 0 0 0 14.23 14.16 14.28

1432 -0.81 -145.9 2283 3619 3964 3974 202.3 -14.9 137 1438 0.15 2.42 0.00 0.000 3206 0.256 0.059 2314 2195 3966 3963 3969 0 0 0 0 0 0 13.98 14.17 14.23

1737 -0.81 -145.9 2314 2191 3964 3975 241.9 -12.5 148 1742 0.00 2.50 0.00 0.000 260 0.000 0.086 2305 3614 3967 3963 3971 0 0 0 0 0 0 14.54 14.19 14.55

1817 -0.87 -145.9 2307 3614 3963 3968 251.8 -11.7 164 1822 0.00 2.42 0.00 0.000 1158 0.000 0.059 2306 2186 3966 3962 3971 0 0 0 0 0 0 14.33 14.23 14.36

2127 -0.87 -145.9 2306 2186 3963 3968 289.3 -11.9 176 2132 0.00 2.50 0.00 0.000 260 0.000 0.086 2300 3613 3964 3962 3967 0 0 0 0 0 0 14.54 14.19 14.56

2207 -0.94 -145.9 2300 3615 3963 3967 298.6 -10.8 192 2212 0.00 2.40 0.00 0.000 1158 0.000 0.059 2299 2196 3962 3961 3963 0 0 0 0 0 0 14.38 14.23 14.35

2517 -0.94 -145.9 2300 2195 3963 3965 335.2 -11.8 204 2522 0.00 2.50 0.00 0.000 260 0.000 0.087 2293 3616 3963 3961 3966 0 0 0 0 0 0 14.55 14.19 14.57

2577 -1.00 -145.9 2294 3616 3961 3966 342.2 -11.3 216 2582 0.12 2.42 0.00 0.000 5254 0.135 0.060 2248 2194 3963 3961 3966 0 0 0 0 0 0 14.26 14.23 14.35

2908 -0.90 -145.9 2248 2193 3961 3964 394.1 -15.8 232 2913 0.15 2.50 0.00 0.000 2436 0.311 0.083 2272 3614 3961 3961 3962 0 0 0 0 0 0 13.81 14.12 14.00

3033 -0.90 -145.9 2272 3615 3960 3964 410.9 -12.8 257 3038 0.00 2.42 0.00 0.000 1030 0.000 0.058 2272 2193 3961 3960 3963 0 0 0 0 0 0 14.33 14.21 14.35

3359 -0.86 -145.9 2271 2194 3960 3961 455.0 -13.5 272 3364 0.12 2.50 0.00 0.000 2436 0.314 0.083 2292 3614 3957 3959 3956 0 0 0 0 0 0 13.92 14.12 14.09

3466 -0.94 -145.9 2293 3614 3960 3961 466.9 -10.4 293 3471 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2190 3960 3959 3961 0 0 0 0 0 0 14.33 14.22 14.36

3599 end dive: TARGET_DEPTH_EXCEEDED

state 3599 begin apogee

3604 -0.13 0.0 2292 2068 3960 3961 482.5 -11.6 300 3865 0.93 0.05 257.92 1.333 10246 0.234 0.124 2530 2111 3366 3402 3330 0 0 0 0 0 0 13.93 13.26 12.78

3871 end apogee: CONTROL_FINISHED_OK

state 3871 begin climb

3873 0.57 145.9 2530 2111 3395 3322 494.1 0.0 308 4114 0.75 2.65 234.25 1.284 11012 0.067 0.081 2787 731 2766 2823 2709 0 0 0 0 0 0 13.47 13.09 12.64

4341 0.24 145.9 2786 732 2802 2705 458.7 15.7 408 4346 0.60 2.47 0.00 0.000 5254 0.319 0.076 2662 2096 2753 2802 2704 0 0 0 0 0 0 13.42 13.65 13.73

4652 0.10 147.4 2663 2097 2804 2698 426.9 9.9 420 4657 0.17 2.45 0.00 0.000 4772 0.308 0.076 2631 716 2752 2802 2702 0 0 0 0 0 0 13.69 13.90 13.87

4882 0.14 196.8 2632 716 2803 2699 408.6 7.7 466 4962 0.00 2.47 74.12 1.326 9254 0.000 0.079 2631 2107 2557 2627 2487 0 0 0 0 0 0 14.09 13.99 13.11

5283 0.15 214.4 2631 2107 2614 2470 372.6 9.2 496 5308 0.00 2.47 20.50 1.433 8740 0.000 0.081 2634 719 2486 2556 2416 0 0 0 0 0 0 14.22 13.78 13.24

5353 0.21 225.7 2634 722 2543 2409 366.1 9.5 510 5364 0.00 2.47 4.07 1.315 9382 0.000 0.079 2635 2108 2445 2512 2379 0 0 0 0 0 0 14.00 13.89 12.98

5674 0.22 240.7 2634 2107 2523 2396 335.9 9.3 524 5709 0.00 0.00 33.28 1.375 8230 0.000 0.000 2634 2108 2385 2448 2322 0 0 0 0 0 0 14.28 13.92 13.25

6004 0.26 260.9 2634 2109 2433 2316 305.6 9.1 535 6037 0.00 2.55 29.12 1.406 8868 0.000 0.083 2642 718 2299 2359 2239 0 0 0 0 0 0 14.28 13.90 13.24

6068 0.34 273.0 2642 718 2353 2236 299.8 9.4 542 6089 0.15 2.42 15.38 1.476 11430 0.117 0.079 2698 2103 2252 2311 2193 0 0 0 0 0 0 13.96 13.91 13.19

6399 0.26 273.0 2698 2104 2302 2177 254.2 13.8 558 6400 0.15 0.00 0.00 0.000 4230 0.232 0.000 2667 2105 2238 2301 2176 0 0 0 0 0 0 13.88 14.12 14.08

6699 0.26 273.0 2667 2105 2302 2172 221.6 10.4 568 6700 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2105 2236 2300 2173 0 0 0 0 0 0 14.42 14.42 14.44

6999 0.27 295.7 2667 2105 2300 2172 193.4 9.0 578 7040 0.00 2.50 34.15 1.358 8740 0.000 0.084 2672 720 2153 2211 2095 0 0 0 0 0 0 14.49 14.04 13.38

7065 0.35 325.2 2672 721 2203 2095 187.9 8.6 591 7121 0.00 2.45 48.40 1.287 9382 0.000 0.080 2672 2109 2034 2088 1981 0 0 0 0 0 0 14.15 14.05 13.23

7422 0.43 364.8 2672 2109 2077 1969 157.4 8.2 612 7491 0.15 2.50 61.97 1.261 10916 0.127 0.084 2741 720 1872 1911 1833 0 0 0 0 0 0 14.12 13.83 13.21

7516 0.43 364.8 2741 720 1905 1834 146.1 12.2 621 7521 0.00 2.47 0.00 0.000 1030 0.000 0.078 2741 2102 1866 1901 1832 0 0 0 0 0 0 13.90 13.55 13.92

7841 0.40 364.8 2741 2103 1902 1824 107.2 11.6 636 7846 0.12 2.45 0.00 0.000 4740 0.242 0.083 2716 716 1861 1899 1823 0 0 0 0 0 0 13.93 14.00 14.07

7887 0.51 396.9 2713 717 1897 1825 103.1 8.5 645 7944 0.00 2.42 48.33 1.236 9382 0.000 0.078 2713 2103 1741 1774 1709 0 0 0 0 0 0 14.14 14.02 13.28

8242 0.62 442.0 2713 2104 1770 1696 72.4 7.9 686 8269 0.17 2.45 22.50 0.417 10916 0.109 0.084 2794 720 1561 1599 1523 0 0 0 0 0 0 14.11 13.95 13.69

8319 0.62 442.0 2794 721 1601 1525 62.9 12.7 701 8325 0.00 2.42 0.00 0.000 1030 0.000 0.078 2794 2099 1562 1600 1524 0 0 0 0 0 0 14.15 14.04 14.18

8624 0.64 468.4 2795 2099 1601 1522 29.6 8.8 732 8646 0.00 2.50 13.73 0.304 8740 0.000 0.084 2794 719 1453 1498 1408 0 0 0 0 0 0 14.39 14.04 13.88

8697 0.73 515.5 2795 719 1499 1412 23.8 7.8 746 8730 0.00 2.42 25.50 0.282 9382 0.000 0.077 2791 2105 1262 1320 1204 0 0 0 0 0 0 14.15 14.04 13.84

8994 end climb: NO_VERTICAL_VELOCITY

state 8994 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	61	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	179.0
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	57	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,183553,7201.6431,-14747.1455,18,0.7,42,21.3,0.5,56.7,11,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	324.9,146274,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.6	D_GRID	480
GPS2	130817,185627,7201.7217,-14747.4199,8,0.9,13,21.3,0.8,44.3,11,9.0

MODEM_MSG	CACST,6,1,20170813202208.573741,3,30,08,0150,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	58480704
FREEZE	13.36,6.573,-1.389,0,1,0	_24V_AH	12.64,71.638
SM_CCo	9001,98.47,0.249,0,0,501,702.78	_10V_AH	12.53,0.000
SM_GC	1.24,7.93,0.17,0.00,0.079,0.116,0.000,203,2221,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.29,14.24,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	238	FG_AHR_10Vo	0.000
MODEM	2,1502655245,73.18300,-149.96500,98.875,143567.6	MEM	323728
RAFOS_FIX	7228.703125,-14627.398438,130817,202006,2,255,13.68	DATA_FILE_SIZE	26727,779
IRIDIUM_FIX	7200.17,-14749.35,130817,184705	CAP_FILE_SIZE	112379,0
TT8_MAMPS	0.040446,0.948234	CFSIZE	2097872896,2069889024
HUMID	48.38	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1451.6
TCM_TEMP	13.20	CURRENT	0.052,271.47,1
XPDR_PINGS	14	GPS	130817,213350,7202.902,-14748.327,59,0.7,59,21.3,0.6,61.2,10,9.6
CP_FREE	16009003008.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	456	143.02	nil	0	0	0.00
Roll_motor	89	2138	2416.36	nil	0	0	0.00
VBD_pump_during_apogee	923	1475	17220.60	nil	0	0	0.00
VBD_pump_during_surface	98	248	309.47	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	8985	13	1586.24
Iridium_during_xfer	778	173	1708.09	NCP	9024	20	2281.27
Transponder_ping	3	420	18.58	PMAR	8969	16	1879.08
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.11
TT8	0	0	0.00
LPSleep	6818	2	197.35
TT8_Active	795	13	139.27
TT8_Sampling	2638	33	1105.73
TT8_CF8	301	38	146.03
TT8_Kalman	0	0	0.00
Analog_circuits	2537	10	317.89
GPS_charging	0	0	0.00
Compass	1125	7	98.69
RAFOS	2190	48	1317.15
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	148	2206	508	465	0.0	0.0	0	129	0.00	0.00	-81.03	0.000	16386	0.000	0.000	145	2206	2187	2114	2261	0	0	0	0	0	0	14.35	28.83	14.36
132	-0.57	-145.9	145	2208	2117	2262	3.6	-4.9	8	185	12.95	2.80	-30.80	0.000	18724	0.457	2.139	2377	3616	3967	3953	3982	1	0	0	0	0	0	13.52	12.71	14.11
285	-0.55	-145.9	2377	3616	3960	3976	45.1	-18.7	38	290	0.00	2.38	0.00	0.000	1158	0.000	0.055	2377	2230	3967	3960	3975	0	0	0	0	0	0	14.05	13.95	14.07
596	-0.55	-145.9	2377	2228	3964	3975	97.7	-15.1	70	601	0.00	2.45	0.00	0.000	260	0.000	0.083	2368	3617	3969	3964	3975	0	0	0	0	0	0	14.40	14.01	14.42
671	-0.65	-145.9	2368	3619	3964	3976	107.8	-11.7	85	676	0.00	2.40	0.00	0.000	1158	0.000	0.056	2368	2202	3969	3963	3975	0	0	0	0	0	0	14.14	14.02	14.17
986	-0.68	-145.9	2368	2201	3964	3975	148.3	-12.7	98	991	0.00	2.50	0.00	0.000	388	0.000	0.086	2363	3614	3969	3963	3975	0	0	0	0	0	0	14.49	14.11	14.53
1021	-0.77	-145.9	2363	3615	3964	3975	152.6	-11.9	105	1026	0.00	2.40	0.00	0.000	1158	0.000	0.057	2362	2201	3969	3963	3975	0	0	0	0	0	0	14.27	14.16	14.30
1347	-0.84	-145.9	2363	2200	3964	3975	189.3	-10.8	120	1352	0.15	2.50	0.00	0.000	4484	0.125	0.084	2283	3617	3966	3963	3970	0	0	0	0	0	0	14.23	14.16	14.28
1432	-0.81	-145.9	2283	3619	3964	3974	202.3	-14.9	137	1438	0.15	2.42	0.00	0.000	3206	0.256	0.059	2314	2195	3966	3963	3969	0	0	0	0	0	0	13.98	14.17	14.23
1737	-0.81	-145.9	2314	2191	3964	3975	241.9	-12.5	148	1742	0.00	2.50	0.00	0.000	260	0.000	0.086	2305	3614	3967	3963	3971	0	0	0	0	0	0	14.54	14.19	14.55
1817	-0.87	-145.9	2307	3614	3963	3968	251.8	-11.7	164	1822	0.00	2.42	0.00	0.000	1158	0.000	0.059	2306	2186	3966	3962	3971	0	0	0	0	0	0	14.33	14.23	14.36
2127	-0.87	-145.9	2306	2186	3963	3968	289.3	-11.9	176	2132	0.00	2.50	0.00	0.000	260	0.000	0.086	2300	3613	3964	3962	3967	0	0	0	0	0	0	14.54	14.19	14.56
2207	-0.94	-145.9	2300	3615	3963	3967	298.6	-10.8	192	2212	0.00	2.40	0.00	0.000	1158	0.000	0.059	2299	2196	3962	3961	3963	0	0	0	0	0	0	14.38	14.23	14.35
2517	-0.94	-145.9	2300	2195	3963	3965	335.2	-11.8	204	2522	0.00	2.50	0.00	0.000	260	0.000	0.087	2293	3616	3963	3961	3966	0	0	0	0	0	0	14.55	14.19	14.57
2577	-1.00	-145.9	2294	3616	3961	3966	342.2	-11.3	216	2582	0.12	2.42	0.00	0.000	5254	0.135	0.060	2248	2194	3963	3961	3966	0	0	0	0	0	0	14.26	14.23	14.35
2908	-0.90	-145.9	2248	2193	3961	3964	394.1	-15.8	232	2913	0.15	2.50	0.00	0.000	2436	0.311	0.083	2272	3614	3961	3961	3962	0	0	0	0	0	0	13.81	14.12	14.00
3033	-0.90	-145.9	2272	3615	3960	3964	410.9	-12.8	257	3038	0.00	2.42	0.00	0.000	1030	0.000	0.058	2272	2193	3961	3960	3963	0	0	0	0	0	0	14.33	14.21	14.35
3359	-0.86	-145.9	2271	2194	3960	3961	455.0	-13.5	272	3364	0.12	2.50	0.00	0.000	2436	0.314	0.083	2292	3614	3957	3959	3956	0	0	0	0	0	0	13.92	14.12	14.09
3466	-0.94	-145.9	2293	3614	3960	3961	466.9	-10.4	293	3471	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2190	3960	3959	3961	0	0	0	0	0	0	14.33	14.22	14.36
3599	end dive: TARGET_DEPTH_EXCEEDED
state	3599	begin apogee
3604	-0.13	0.0	2292	2068	3960	3961	482.5	-11.6	300	3865	0.93	0.05	257.92	1.333	10246	0.234	0.124	2530	2111	3366	3402	3330	0	0	0	0	0	0	13.93	13.26	12.78
3871	end apogee: CONTROL_FINISHED_OK
state	3871	begin climb
3873	0.57	145.9	2530	2111	3395	3322	494.1	0.0	308	4114	0.75	2.65	234.25	1.284	11012	0.067	0.081	2787	731	2766	2823	2709	0	0	0	0	0	0	13.47	13.09	12.64
4341	0.24	145.9	2786	732	2802	2705	458.7	15.7	408	4346	0.60	2.47	0.00	0.000	5254	0.319	0.076	2662	2096	2753	2802	2704	0	0	0	0	0	0	13.42	13.65	13.73
4652	0.10	147.4	2663	2097	2804	2698	426.9	9.9	420	4657	0.17	2.45	0.00	0.000	4772	0.308	0.076	2631	716	2752	2802	2702	0	0	0	0	0	0	13.69	13.90	13.87
4882	0.14	196.8	2632	716	2803	2699	408.6	7.7	466	4962	0.00	2.47	74.12	1.326	9254	0.000	0.079	2631	2107	2557	2627	2487	0	0	0	0	0	0	14.09	13.99	13.11
5283	0.15	214.4	2631	2107	2614	2470	372.6	9.2	496	5308	0.00	2.47	20.50	1.433	8740	0.000	0.081	2634	719	2486	2556	2416	0	0	0	0	0	0	14.22	13.78	13.24
5353	0.21	225.7	2634	722	2543	2409	366.1	9.5	510	5364	0.00	2.47	4.07	1.315	9382	0.000	0.079	2635	2108	2445	2512	2379	0	0	0	0	0	0	14.00	13.89	12.98
5674	0.22	240.7	2634	2107	2523	2396	335.9	9.3	524	5709	0.00	0.00	33.28	1.375	8230	0.000	0.000	2634	2108	2385	2448	2322	0	0	0	0	0	0	14.28	13.92	13.25
6004	0.26	260.9	2634	2109	2433	2316	305.6	9.1	535	6037	0.00	2.55	29.12	1.406	8868	0.000	0.083	2642	718	2299	2359	2239	0	0	0	0	0	0	14.28	13.90	13.24
6068	0.34	273.0	2642	718	2353	2236	299.8	9.4	542	6089	0.15	2.42	15.38	1.476	11430	0.117	0.079	2698	2103	2252	2311	2193	0	0	0	0	0	0	13.96	13.91	13.19
6399	0.26	273.0	2698	2104	2302	2177	254.2	13.8	558	6400	0.15	0.00	0.00	0.000	4230	0.232	0.000	2667	2105	2238	2301	2176	0	0	0	0	0	0	13.88	14.12	14.08
6699	0.26	273.0	2667	2105	2302	2172	221.6	10.4	568	6700	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2105	2236	2300	2173	0	0	0	0	0	0	14.42	14.42	14.44
6999	0.27	295.7	2667	2105	2300	2172	193.4	9.0	578	7040	0.00	2.50	34.15	1.358	8740	0.000	0.084	2672	720	2153	2211	2095	0	0	0	0	0	0	14.49	14.04	13.38
7065	0.35	325.2	2672	721	2203	2095	187.9	8.6	591	7121	0.00	2.45	48.40	1.287	9382	0.000	0.080	2672	2109	2034	2088	1981	0	0	0	0	0	0	14.15	14.05	13.23
7422	0.43	364.8	2672	2109	2077	1969	157.4	8.2	612	7491	0.15	2.50	61.97	1.261	10916	0.127	0.084	2741	720	1872	1911	1833	0	0	0	0	0	0	14.12	13.83	13.21
7516	0.43	364.8	2741	720	1905	1834	146.1	12.2	621	7521	0.00	2.47	0.00	0.000	1030	0.000	0.078	2741	2102	1866	1901	1832	0	0	0	0	0	0	13.90	13.55	13.92
7841	0.40	364.8	2741	2103	1902	1824	107.2	11.6	636	7846	0.12	2.45	0.00	0.000	4740	0.242	0.083	2716	716	1861	1899	1823	0	0	0	0	0	0	13.93	14.00	14.07
7887	0.51	396.9	2713	717	1897	1825	103.1	8.5	645	7944	0.00	2.42	48.33	1.236	9382	0.000	0.078	2713	2103	1741	1774	1709	0	0	0	0	0	0	14.14	14.02	13.28
8242	0.62	442.0	2713	2104	1770	1696	72.4	7.9	686	8269	0.17	2.45	22.50	0.417	10916	0.109	0.084	2794	720	1561	1599	1523	0	0	0	0	0	0	14.11	13.95	13.69
8319	0.62	442.0	2794	721	1601	1525	62.9	12.7	701	8325	0.00	2.42	0.00	0.000	1030	0.000	0.078	2794	2099	1562	1600	1524	0	0	0	0	0	0	14.15	14.04	14.18
8624	0.64	468.4	2795	2099	1601	1522	29.6	8.8	732	8646	0.00	2.50	13.73	0.304	8740	0.000	0.084	2794	719	1453	1498	1408	0	0	0	0	0	0	14.39	14.04	13.88
8697	0.73	515.5	2795	719	1499	1412	23.8	7.8	746	8730	0.00	2.42	25.50	0.282	9382	0.000	0.077	2791	2105	1262	1320	1204	0	0	0	0	0	0	14.15	14.04	13.84
8994	end climb: NO_VERTICAL_VELOCITY
state	8994	begin surface