Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 80 * 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 80 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 233.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 233.0 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 28 VBD_MIN 500

DIVE 80 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 150817,234455,7222.9541,-14815.6260,14,0.8,24,21.2,1.1,87.1,11,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.03 MHEAD_RNG_PITCHd_Wd 318.4,104845,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 150817,235556,7222.8604,-14815.4834,7,0.7,38,21.3,0.4,94.6,11,7.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170816002141.843544,3,28,14,0215,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C PM_FREEKB_00 57067776

FREEZE 14.41,5.651,-1.401,0,1,0 _24V_AH 12.56,80.477

SM_CCo 8941,111.43,0.246,0,0,497,702.78 _10V_AH 12.57,0.000

SM_GC 1.03,8.00,0.20,0.00,0.087,0.106,0.000,201,2226,492,-7.38,-0.40,704.75,0,0,0,0,0,0,14.27,14.27,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

MODEM 2,1502842419,73.18300,-149.96500,72.526,105148.6 MEM 323696

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 DATA_FILE_SIZE 26761,803

IRIDIUM_FIX 7221.25,-14814.72,150817,210836 CAP_FILE_SIZE 105684,0

TT8_MAMPS 0.040446,0.835135 CFSIZE 2097872896,2064220160

HUMID 48.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1450.6

TCM_TEMP 13.20 CURRENT 0.096,242.82,1

XPDR_PINGS 10 GPS 160817,023156,7223.812,-14817.164,16,0.7,38,21.2,0.6,257.6,11,6.7

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 454 139.69 nil 0 0 0.00

Roll_motor 85 2142 2300.25 nil 0 0 0.00

VBD_pump_during_apogee 863 1522 16510.26 nil 0 0 0.00

VBD_pump_during_surface 111 246 344.74 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 8916 14 1611.58

Iridium_during_xfer 364 181 830.04 NCP 8960 20 2250.75

Transponder_ping 2 420 13.19 PMAR 8909 16 1860.74

GUMSTIX_24V 0 0 0.00

GPS 39 22 11.10

TT8 0 0 0.00

LPSleep 6501 2 188.79

TT8_Active 996 13 174.90

TT8_Sampling 2132 33 896.27

TT8_CF8 290 38 141.45

TT8_Kalman 0 0 0.00

Analog_circuits 2107 10 264.85

GPS_charging 0 0 0.00

Compass 1150 7 101.21

RAFOS 2159 48 1302.65

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 -145.9 175 2210 517 458 0.0 0.0 0 129 0.00 0.00 -80.97 0.000 16386 0.000 0.000 173 2210 2009 1932 2087 0 0 0 0 0 0 14.38 28.83 14.40

132 -0.57 -145.9 173 2211 1933 2095 3.0 -3.7 8 189 12.68 2.75 -38.03 0.000 18980 0.454 2.142 2386 792 3965 3950 3980 0 0 0 0 0 0 13.70 12.65 14.12

295 -0.61 -145.9 2386 792 3959 3981 42.1 -16.3 37 302 0.00 2.55 0.00 0.000 1158 0.000 0.088 2378 2203 3969 3958 3980 0 0 0 0 0 0 14.04 13.93 14.08

603 -0.61 -145.9 2378 2203 3962 3981 92.0 -13.7 68 607 0.00 2.53 0.00 0.000 260 0.000 0.092 2376 3616 3970 3961 3980 0 0 0 0 0 0 14.32 14.00 14.33

827 -0.72 -145.9 2376 3617 3962 3982 118.6 -11.0 113 832 0.00 2.42 0.00 0.000 1158 0.000 0.054 2376 2200 3970 3961 3980 0 0 0 0 0 0 14.18 14.08 14.19

1143 -0.80 -145.9 2376 2200 3962 3981 153.4 -10.6 126 1148 0.15 2.53 0.00 0.000 4484 0.134 0.085 2306 3620 3970 3961 3980 0 0 0 0 0 0 14.02 14.02 14.07

1259 -0.80 -145.9 2306 3622 3961 3980 169.6 -14.2 149 1265 0.00 2.42 0.00 0.000 1030 0.000 0.054 2306 2195 3971 3961 3981 0 0 0 0 0 0 14.16 14.04 14.19

1563 -0.78 -145.9 2306 2197 3960 3980 216.4 -14.8 160 1568 0.00 2.53 0.00 0.000 388 0.000 0.087 2297 3620 3969 3961 3978 0 0 0 0 0 0 14.37 14.04 14.38

1708 -0.81 -145.9 2298 3621 3962 3979 235.8 -13.0 189 1714 0.00 2.45 0.00 0.000 1158 0.000 0.057 2300 2199 3972 3967 3978 0 0 0 0 0 0 14.16 14.06 14.19

2013 -0.81 -145.9 2297 2193 3962 3977 275.7 -12.8 200 2018 0.00 2.53 0.00 0.000 260 0.000 0.088 2287 3613 3968 3961 3975 0 0 0 0 0 0 14.38 14.00 14.39

2140 -0.86 -145.9 2288 3613 3962 3975 291.0 -11.8 225 2145 0.00 2.42 0.00 0.000 1158 0.000 0.055 2287 2191 3968 3962 3975 0 0 0 0 0 0 14.19 14.10 14.23

2465 -0.86 -145.9 2288 2190 3962 3973 332.9 -12.6 240 2470 0.00 2.50 0.00 0.000 260 0.000 0.087 2280 3616 3967 3961 3973 0 0 0 0 0 0 14.37 14.02 14.38

2595 -0.90 -145.9 2281 3615 3962 3972 348.8 -11.9 266 2600 0.00 2.40 0.00 0.000 1158 0.000 0.054 2280 2168 3966 3961 3972 0 0 0 0 0 0 14.17 14.07 14.20

2917 -0.90 -145.9 2280 2167 3962 3969 389.4 -12.6 280 2922 0.00 2.55 0.00 0.000 260 0.000 0.088 2272 3610 3965 3961 3970 0 0 0 0 0 0 14.45 14.08 14.47

3059 -0.93 -145.9 2271 3611 3961 3971 407.0 -11.7 308 3064 0.00 2.40 0.00 0.000 1158 0.000 0.055 2271 2193 3967 3965 3970 0 0 0 0 0 0 14.23 14.13 14.26

3369 -0.91 -145.9 2272 2192 3961 3969 447.2 -12.8 320 3374 0.00 2.50 0.00 0.000 388 0.000 0.089 2267 3610 3965 3961 3969 0 0 0 0 0 0 14.52 14.12 14.54

3474 -0.93 -145.9 2267 3613 3961 3970 460.5 -12.4 341 3479 0.00 2.40 0.00 0.000 1158 0.000 0.054 2267 2193 3964 3960 3969 0 0 0 0 0 0 14.29 14.18 14.33

3636 end dive: TARGET_DEPTH_EXCEEDED

state 3637 begin apogee

3642 -0.13 0.0 2268 2072 3961 3969 482.2 -13.2 349 3888 1.05 0.08 242.05 1.365 10246 0.248 0.182 2529 2113 3366 3407 3325 0 0 0 0 0 0 13.95 13.38 12.78

3891 end apogee: CONTROL_FINISHED_OK

state 3892 begin climb

3896 0.57 145.9 2530 2114 3398 3317 494.0 0.0 357 4112 0.75 2.65 201.65 1.340 11012 0.066 0.074 2779 3500 2759 2818 2700 0 0 0 0 0 0 13.52 13.19 12.56

4182 0.15 145.9 2779 3501 2796 2701 484.3 17.1 408 4189 0.77 2.45 0.00 0.000 5254 0.346 0.055 2633 2124 2748 2796 2700 0 0 0 0 0 0 13.26 13.51 13.54

4504 0.09 177.1 2634 2124 2798 2697 455.1 8.6 422 4549 0.00 2.65 41.20 1.402 8868 0.000 0.082 2644 690 2637 2695 2579 0 0 0 0 0 0 14.20 13.76 13.05

4616 0.10 190.3 2644 691 2684 2568 445.0 9.4 444 4636 0.00 2.50 13.75 1.522 9254 0.000 0.079 2644 2092 2586 2652 2520 0 0 0 0 0 0 13.96 13.86 13.04

4958 0.04 190.3 2644 2093 2644 2502 410.4 10.2 462 4959 0.20 0.00 0.00 0.000 4230 0.246 0.000 2599 2093 2572 2643 2501 0 0 0 0 0 0 13.90 14.19 14.16

5257 0.13 250.2 2600 2093 2644 2499 388.1 7.2 472 5362 0.00 2.60 95.25 1.323 8868 0.000 0.084 2602 690 2335 2399 2271 0 0 0 0 0 0 14.46 13.78 13.14

5392 0.31 302.3 2603 690 2400 2270 378.1 7.6 499 5483 0.25 2.53 80.78 1.308 11430 0.092 0.078 2693 2100 2125 2190 2061 0 0 0 0 0 0 13.90 13.85 12.97

5798 0.25 302.3 2693 2102 2176 2047 321.5 14.2 530 5803 0.12 2.50 0.00 0.000 4740 0.235 0.082 2672 692 2110 2175 2046 0 0 0 0 0 0 13.88 13.97 14.04

5863 0.30 302.3 2673 691 2173 2046 313.3 11.4 543 5869 0.00 2.50 0.00 0.000 1158 0.000 0.077 2672 2103 2109 2172 2046 0 0 0 0 0 0 14.13 14.02 14.16

6189 0.30 302.3 2672 2105 2172 2045 274.2 11.9 558 6194 0.00 2.50 0.00 0.000 516 0.000 0.086 2672 690 2107 2171 2044 0 0 0 0 0 0 14.45 14.13 14.47

6239 0.34 302.3 2673 689 2171 2044 268.5 11.2 568 6245 0.00 2.45 0.00 0.000 1158 0.000 0.077 2672 2098 2107 2170 2044 0 0 0 0 0 0 14.09 13.66 14.23

6550 0.34 302.3 2672 2100 2171 2045 234.2 10.7 580 6551 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2099 2107 2170 2044 0 0 0 0 0 0 14.52 14.54 14.54

6850 0.35 312.1 2672 2100 2171 2044 204.6 9.5 590 6860 0.00 2.53 2.28 0.606 8740 0.000 0.086 2672 692 2094 2153 2035 0 0 0 0 0 0 14.54 14.21 12.96

6925 0.46 350.4 2673 691 2158 2044 198.1 8.2 605 7012 0.17 2.45 79.57 1.264 11430 0.117 0.078 2747 2102 1934 1984 1884 0 0 0 0 0 0 14.26 14.20 13.24

7332 0.39 350.4 2746 2102 1961 1874 143.0 13.6 636 7338 0.17 2.47 0.00 0.000 4740 0.233 0.081 2712 695 1917 1960 1874 0 0 0 0 0 0 13.93 14.11 14.09

7383 0.46 357.7 2712 691 1958 1875 137.5 9.7 646 7388 0.00 2.47 1.40 0.263 9382 0.000 0.076 2712 2102 1904 1946 1863 0 0 0 0 0 0 14.25 14.14 13.95

7694 0.50 374.8 2713 2103 1957 1868 107.8 9.2 658 7734 0.00 0.00 35.55 1.291 8870 0.000 0.000 2712 2103 1833 1871 1795 0 0 0 0 0 0 14.47 13.89 13.36

8034 0.59 420.2 2712 2104 1860 1785 78.0 7.9 691 8068 0.15 2.55 23.40 0.431 10916 0.116 0.086 2781 695 1649 1685 1614 0 0 0 0 0 0 14.17 14.05 13.70

8145 0.59 420.2 2782 696 1691 1618 66.0 10.7 712 8151 0.00 2.45 0.00 0.000 1030 0.000 0.079 2781 2095 1653 1689 1618 0 0 0 0 0 0 14.18 14.06 14.21

8448 0.62 467.8 2781 2097 1690 1618 36.3 7.8 743 8481 0.00 2.50 26.27 0.311 8484 0.000 0.080 2781 3524 1456 1501 1411 0 0 0 0 0 0 14.44 14.01 13.83

8587 0.67 503.4 2782 3525 1502 1418 24.7 8.4 770 8614 0.00 2.45 20.33 0.280 9382 0.000 0.062 2790 2098 1311 1369 1253 0 0 0 0 0 0 14.17 14.04 13.87

8889 end climb: NO_VERTICAL_VELOCITY

state 8889 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	80	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	233.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,234455,7222.9541,-14815.6260,14,0.8,24,21.2,1.1,87.1,11,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.03	MHEAD_RNG_PITCHd_Wd	318.4,104845,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	150817,235556,7222.8604,-14815.4834,7,0.7,38,21.3,0.4,94.6,11,7.1

MODEM_MSG	CACST,6,1,20170816002141.843544,3,28,14,0215,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	PM_FREEKB_00	57067776
FREEZE	14.41,5.651,-1.401,0,1,0	_24V_AH	12.56,80.477
SM_CCo	8941,111.43,0.246,0,0,497,702.78	_10V_AH	12.57,0.000
SM_GC	1.03,8.00,0.20,0.00,0.087,0.106,0.000,201,2226,492,-7.38,-0.40,704.75,0,0,0,0,0,0,14.27,14.27,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
MODEM	2,1502842419,73.18300,-149.96500,72.526,105148.6	MEM	323696
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	DATA_FILE_SIZE	26761,803
IRIDIUM_FIX	7221.25,-14814.72,150817,210836	CAP_FILE_SIZE	105684,0
TT8_MAMPS	0.040446,0.835135	CFSIZE	2097872896,2064220160
HUMID	48.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1450.6
TCM_TEMP	13.20	CURRENT	0.096,242.82,1
XPDR_PINGS	10	GPS	160817,023156,7223.812,-14817.164,16,0.7,38,21.2,0.6,257.6,11,6.7
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	454	139.69	nil	0	0	0.00
Roll_motor	85	2142	2300.25	nil	0	0	0.00
VBD_pump_during_apogee	863	1522	16510.26	nil	0	0	0.00
VBD_pump_during_surface	111	246	344.74	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	8916	14	1611.58
Iridium_during_xfer	364	181	830.04	NCP	8960	20	2250.75
Transponder_ping	2	420	13.19	PMAR	8909	16	1860.74
GUMSTIX_24V	0	0	0.00
GPS	39	22	11.10
TT8	0	0	0.00
LPSleep	6501	2	188.79
TT8_Active	996	13	174.90
TT8_Sampling	2132	33	896.27
TT8_CF8	290	38	141.45
TT8_Kalman	0	0	0.00
Analog_circuits	2107	10	264.85
GPS_charging	0	0	0.00
Compass	1150	7	101.21
RAFOS	2159	48	1302.65
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	175	2210	517	458	0.0	0.0	0	129	0.00	0.00	-80.97	0.000	16386	0.000	0.000	173	2210	2009	1932	2087	0	0	0	0	0	0	14.38	28.83	14.40
132	-0.57	-145.9	173	2211	1933	2095	3.0	-3.7	8	189	12.68	2.75	-38.03	0.000	18980	0.454	2.142	2386	792	3965	3950	3980	0	0	0	0	0	0	13.70	12.65	14.12
295	-0.61	-145.9	2386	792	3959	3981	42.1	-16.3	37	302	0.00	2.55	0.00	0.000	1158	0.000	0.088	2378	2203	3969	3958	3980	0	0	0	0	0	0	14.04	13.93	14.08
603	-0.61	-145.9	2378	2203	3962	3981	92.0	-13.7	68	607	0.00	2.53	0.00	0.000	260	0.000	0.092	2376	3616	3970	3961	3980	0	0	0	0	0	0	14.32	14.00	14.33
827	-0.72	-145.9	2376	3617	3962	3982	118.6	-11.0	113	832	0.00	2.42	0.00	0.000	1158	0.000	0.054	2376	2200	3970	3961	3980	0	0	0	0	0	0	14.18	14.08	14.19
1143	-0.80	-145.9	2376	2200	3962	3981	153.4	-10.6	126	1148	0.15	2.53	0.00	0.000	4484	0.134	0.085	2306	3620	3970	3961	3980	0	0	0	0	0	0	14.02	14.02	14.07
1259	-0.80	-145.9	2306	3622	3961	3980	169.6	-14.2	149	1265	0.00	2.42	0.00	0.000	1030	0.000	0.054	2306	2195	3971	3961	3981	0	0	0	0	0	0	14.16	14.04	14.19
1563	-0.78	-145.9	2306	2197	3960	3980	216.4	-14.8	160	1568	0.00	2.53	0.00	0.000	388	0.000	0.087	2297	3620	3969	3961	3978	0	0	0	0	0	0	14.37	14.04	14.38
1708	-0.81	-145.9	2298	3621	3962	3979	235.8	-13.0	189	1714	0.00	2.45	0.00	0.000	1158	0.000	0.057	2300	2199	3972	3967	3978	0	0	0	0	0	0	14.16	14.06	14.19
2013	-0.81	-145.9	2297	2193	3962	3977	275.7	-12.8	200	2018	0.00	2.53	0.00	0.000	260	0.000	0.088	2287	3613	3968	3961	3975	0	0	0	0	0	0	14.38	14.00	14.39
2140	-0.86	-145.9	2288	3613	3962	3975	291.0	-11.8	225	2145	0.00	2.42	0.00	0.000	1158	0.000	0.055	2287	2191	3968	3962	3975	0	0	0	0	0	0	14.19	14.10	14.23
2465	-0.86	-145.9	2288	2190	3962	3973	332.9	-12.6	240	2470	0.00	2.50	0.00	0.000	260	0.000	0.087	2280	3616	3967	3961	3973	0	0	0	0	0	0	14.37	14.02	14.38
2595	-0.90	-145.9	2281	3615	3962	3972	348.8	-11.9	266	2600	0.00	2.40	0.00	0.000	1158	0.000	0.054	2280	2168	3966	3961	3972	0	0	0	0	0	0	14.17	14.07	14.20
2917	-0.90	-145.9	2280	2167	3962	3969	389.4	-12.6	280	2922	0.00	2.55	0.00	0.000	260	0.000	0.088	2272	3610	3965	3961	3970	0	0	0	0	0	0	14.45	14.08	14.47
3059	-0.93	-145.9	2271	3611	3961	3971	407.0	-11.7	308	3064	0.00	2.40	0.00	0.000	1158	0.000	0.055	2271	2193	3967	3965	3970	0	0	0	0	0	0	14.23	14.13	14.26
3369	-0.91	-145.9	2272	2192	3961	3969	447.2	-12.8	320	3374	0.00	2.50	0.00	0.000	388	0.000	0.089	2267	3610	3965	3961	3969	0	0	0	0	0	0	14.52	14.12	14.54
3474	-0.93	-145.9	2267	3613	3961	3970	460.5	-12.4	341	3479	0.00	2.40	0.00	0.000	1158	0.000	0.054	2267	2193	3964	3960	3969	0	0	0	0	0	0	14.29	14.18	14.33
3636	end dive: TARGET_DEPTH_EXCEEDED
state	3637	begin apogee
3642	-0.13	0.0	2268	2072	3961	3969	482.2	-13.2	349	3888	1.05	0.08	242.05	1.365	10246	0.248	0.182	2529	2113	3366	3407	3325	0	0	0	0	0	0	13.95	13.38	12.78
3891	end apogee: CONTROL_FINISHED_OK
state	3892	begin climb
3896	0.57	145.9	2530	2114	3398	3317	494.0	0.0	357	4112	0.75	2.65	201.65	1.340	11012	0.066	0.074	2779	3500	2759	2818	2700	0	0	0	0	0	0	13.52	13.19	12.56
4182	0.15	145.9	2779	3501	2796	2701	484.3	17.1	408	4189	0.77	2.45	0.00	0.000	5254	0.346	0.055	2633	2124	2748	2796	2700	0	0	0	0	0	0	13.26	13.51	13.54
4504	0.09	177.1	2634	2124	2798	2697	455.1	8.6	422	4549	0.00	2.65	41.20	1.402	8868	0.000	0.082	2644	690	2637	2695	2579	0	0	0	0	0	0	14.20	13.76	13.05
4616	0.10	190.3	2644	691	2684	2568	445.0	9.4	444	4636	0.00	2.50	13.75	1.522	9254	0.000	0.079	2644	2092	2586	2652	2520	0	0	0	0	0	0	13.96	13.86	13.04
4958	0.04	190.3	2644	2093	2644	2502	410.4	10.2	462	4959	0.20	0.00	0.00	0.000	4230	0.246	0.000	2599	2093	2572	2643	2501	0	0	0	0	0	0	13.90	14.19	14.16
5257	0.13	250.2	2600	2093	2644	2499	388.1	7.2	472	5362	0.00	2.60	95.25	1.323	8868	0.000	0.084	2602	690	2335	2399	2271	0	0	0	0	0	0	14.46	13.78	13.14
5392	0.31	302.3	2603	690	2400	2270	378.1	7.6	499	5483	0.25	2.53	80.78	1.308	11430	0.092	0.078	2693	2100	2125	2190	2061	0	0	0	0	0	0	13.90	13.85	12.97
5798	0.25	302.3	2693	2102	2176	2047	321.5	14.2	530	5803	0.12	2.50	0.00	0.000	4740	0.235	0.082	2672	692	2110	2175	2046	0	0	0	0	0	0	13.88	13.97	14.04
5863	0.30	302.3	2673	691	2173	2046	313.3	11.4	543	5869	0.00	2.50	0.00	0.000	1158	0.000	0.077	2672	2103	2109	2172	2046	0	0	0	0	0	0	14.13	14.02	14.16
6189	0.30	302.3	2672	2105	2172	2045	274.2	11.9	558	6194	0.00	2.50	0.00	0.000	516	0.000	0.086	2672	690	2107	2171	2044	0	0	0	0	0	0	14.45	14.13	14.47
6239	0.34	302.3	2673	689	2171	2044	268.5	11.2	568	6245	0.00	2.45	0.00	0.000	1158	0.000	0.077	2672	2098	2107	2170	2044	0	0	0	0	0	0	14.09	13.66	14.23
6550	0.34	302.3	2672	2100	2171	2045	234.2	10.7	580	6551	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2099	2107	2170	2044	0	0	0	0	0	0	14.52	14.54	14.54
6850	0.35	312.1	2672	2100	2171	2044	204.6	9.5	590	6860	0.00	2.53	2.28	0.606	8740	0.000	0.086	2672	692	2094	2153	2035	0	0	0	0	0	0	14.54	14.21	12.96
6925	0.46	350.4	2673	691	2158	2044	198.1	8.2	605	7012	0.17	2.45	79.57	1.264	11430	0.117	0.078	2747	2102	1934	1984	1884	0	0	0	0	0	0	14.26	14.20	13.24
7332	0.39	350.4	2746	2102	1961	1874	143.0	13.6	636	7338	0.17	2.47	0.00	0.000	4740	0.233	0.081	2712	695	1917	1960	1874	0	0	0	0	0	0	13.93	14.11	14.09
7383	0.46	357.7	2712	691	1958	1875	137.5	9.7	646	7388	0.00	2.47	1.40	0.263	9382	0.000	0.076	2712	2102	1904	1946	1863	0	0	0	0	0	0	14.25	14.14	13.95
7694	0.50	374.8	2713	2103	1957	1868	107.8	9.2	658	7734	0.00	0.00	35.55	1.291	8870	0.000	0.000	2712	2103	1833	1871	1795	0	0	0	0	0	0	14.47	13.89	13.36
8034	0.59	420.2	2712	2104	1860	1785	78.0	7.9	691	8068	0.15	2.55	23.40	0.431	10916	0.116	0.086	2781	695	1649	1685	1614	0	0	0	0	0	0	14.17	14.05	13.70
8145	0.59	420.2	2782	696	1691	1618	66.0	10.7	712	8151	0.00	2.45	0.00	0.000	1030	0.000	0.079	2781	2095	1653	1689	1618	0	0	0	0	0	0	14.18	14.06	14.21
8448	0.62	467.8	2781	2097	1690	1618	36.3	7.8	743	8481	0.00	2.50	26.27	0.311	8484	0.000	0.080	2781	3524	1456	1501	1411	0	0	0	0	0	0	14.44	14.01	13.83
8587	0.67	503.4	2782	3525	1502	1418	24.7	8.4	770	8614	0.00	2.45	20.33	0.280	9382	0.000	0.062	2790	2098	1311	1369	1253	0	0	0	0	0	0	14.17	14.04	13.87
8889	end climb: NO_VERTICAL_VELOCITY
state	8889	begin surface