Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 65 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 1990 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 10 HEADING -1 C_ROLL_CLIMB 1990 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 25 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 16 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 34 ALTIM_PULSE 1

D_ABORT 220 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 1 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 C_VBD 2520 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 0 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2479 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 250 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.917877 SEABIRD_C_H 1.1284475

MASS 74087 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE 4

HD_A 0.0020000001 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 15 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020000001 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.017689999 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PRESSURE_YINT -50.917877 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2479 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1990 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2520 MASS 74087 ROLL_DEG 65 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 16 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 34 VBD_MAXERRORS 0

DEVICE5 151 MISSION 18 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 10 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 220 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 25 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240217,025649,4744.0693,-12224.1992,2,0.8,16,16.3,0.0,0.0,10,5.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.096159,-0.229098

_SM_DEPTHo 0.76 KALMAN_X 1062.540039,-218.819321,293.695770,-193.116730,1547.767334

_SM_ANGLEo -40.5 KALMAN_Y 1999.613770,-192.860886,584.981689,634.070801,2613.923584

GPS2 240217,030025,4744.0830,-12224.1729,5,0.8,18,16.3,0.0,0.0,10,4.8 MHEAD_RNG_PITCHd_Wd 186.5,3034,-12.3,-10.000,-21.92,3652

SPEED_LIMITS 0.173,0.248 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.4,1.019618 _24V_AH 23.67,3.500

SM_CCo 2683,0.00,0.000,0,0,1873,555.51 _10V_AH 9.62,3.744

SM_GC 1.32,29.25,3.65,0.00,0.029,0.039,0.000,242,2005,1873,-6.98,-0.59,555.51,0,0,0,0,0,0,26.34,26.34,26.40 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,024936 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.206724 MEM 322236

HUMID 31.05 DATA_FILE_SIZE 17576,200

INTERNAL_PRESSURE 9.28126 CAP_FILE_SIZE 65365,16

TCM_TEMP 7.00 CFSIZE 1024409600,1017757696

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.9,5.4 GPS 240217,034701,4743.984,-12224.298,3,0.8,19,16.3,0.0,0.0,10,4.9

ALTIM_BOTTOM_PING 100.9,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 62 127 189.53 SBE_CT 133 24 75.74

Roll_motor 159 136 517.87 AA4330 256 33 200.14

VBD_pump_during_apogee 52 2042 2552.73 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1039 17 437.91

VBD_valve 0 0 0.00 SAT1001 1836 17 773.66

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 7.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 9.65

TT8 570 19 108.66

LPSleep 60 2 1.26

TT8_Active 223 19 42.54

TT8_Sampling 1878 39 719.40

TT8_CF8 29 45 12.78

TT8_Kalman 33 81 26.30

Analog_circuits 832 12 96.06

GPS_charging 0 0 0.00

Compass 298 15 43.11

RAFOS 0 0 0.00

Transponder 7 30 2.06

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 int_press humidity

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.31 -244.4 242 1991 47 4094 0.0 0.0 0 46 0.00 0.00 -18.55 0.000 16390 0.000 0.000 242 1991 2811 2811 4094 0 0 0 0 0 0 26.39 25.60 26.41 9.01 32.00

48 -1.31 -244.4 242 1991 2811 4095 1.6 -5.9 2 77 22.65 3.90 0.00 0.000 2308 0.128 0.074 2042 3389 2814 2814 4094 0 0 0 0 0 0 25.75 25.75 25.83 9.54 32.91

137 -1.31 -244.4 2042 3389 2816 4094 29.1 -16.6 9 152 0.00 3.65 0.00 0.000 1030 0.000 0.040 2042 1996 2817 2817 4095 0 0 0 0 0 0 25.99 25.92 26.02 9.54 32.04

212 -1.31 -244.4 2042 1995 2818 4094 38.6 -12.7 15 227 0.00 3.95 0.00 0.000 516 0.000 0.082 2042 571 2819 2819 4094 0 0 0 0 0 0 26.35 25.93 26.36 9.54 32.12

240 -1.31 -244.4 2042 571 2819 4095 42.5 -13.2 17 255 0.00 3.60 0.00 0.000 1030 0.000 0.041 2042 1967 2820 2820 4095 0 0 0 0 0 0 26.10 26.04 26.15 9.54 32.63

315 -1.31 -244.4 2042 1968 2821 4094 51.7 -12.1 23 330 0.00 4.05 0.00 0.000 260 0.000 0.083 2042 3414 2821 2821 4094 0 0 0 0 0 0 26.44 26.01 26.46 9.54 31.84

343 -1.31 -244.4 2042 3414 2821 4094 55.7 -13.1 25 358 0.00 3.72 0.00 0.000 1030 0.000 0.042 2042 1988 2822 2822 4094 0 0 0 0 0 0 26.17 26.11 26.20 9.54 32.59

418 -1.31 -244.4 2042 1988 2824 4095 66.2 -14.0 31 433 0.00 3.92 0.00 0.000 516 0.000 0.083 2042 567 2824 2824 4094 0 0 0 0 0 0 26.51 26.07 26.53 9.54 31.76

458 -1.31 -244.4 2042 567 2825 4094 72.1 -14.6 34 473 0.00 3.67 0.00 0.000 1030 0.000 0.041 2042 1997 2825 2825 4094 0 0 0 0 0 0 26.25 26.19 26.28 9.54 32.39

533 -1.31 -244.4 2042 1998 2827 4094 83.0 -14.5 40 547 0.00 3.92 0.00 0.000 260 0.000 0.084 2042 3405 2827 2827 4094 0 0 0 0 0 0 26.57 26.13 26.58 9.54 31.76

574 -1.31 -244.4 2042 3405 2828 4095 89.0 -14.8 43 588 0.00 3.67 0.00 0.000 1030 0.000 0.041 2042 1988 2829 2829 4095 0 0 0 0 0 0 26.30 26.25 26.34 9.54 32.31

648 -1.31 -244.4 2042 1987 2830 4095 99.2 -13.2 49 666 0.00 3.90 0.00 0.000 516 0.000 0.082 2042 567 2831 2831 4094 0 0 0 0 0 0 26.62 26.17 26.63 9.54 31.80

679 -1.31 -244.4 2042 567 2831 4094 103.6 -13.9 51 694 0.00 3.62 0.00 0.000 1030 0.000 0.043 2042 1984 2832 2832 4094 0 0 0 0 0 0 26.33 26.27 26.36 9.54 31.61

754 -1.31 -244.4 2042 1984 2834 4094 113.8 -13.6 57 769 0.00 3.95 0.00 0.000 260 0.000 0.085 2042 3402 2834 2834 4094 0 0 0 0 0 0 26.65 26.20 26.67 9.54 31.68

806 -1.31 -244.4 2042 3402 2835 4094 121.0 -13.8 61 820 0.00 3.65 0.00 0.000 1030 0.000 0.041 2042 1990 2836 2836 4094 0 0 0 0 0 0 26.38 26.32 26.41 9.54 31.61

881 -1.31 -244.4 2042 1990 2838 4095 131.1 -13.9 67 895 0.00 3.90 0.00 0.000 516 0.000 0.083 2042 567 2838 2838 4094 0 0 0 0 0 0 26.69 26.24 26.70 9.55 31.45

921 -1.31 -244.4 2042 567 2839 4094 137.6 -15.9 70 935 0.00 3.62 0.00 0.000 1030 0.000 0.043 2042 1985 2840 2840 4094 0 0 0 0 0 0 26.41 26.34 26.44 9.55 31.37

995 -1.31 -244.4 2042 1986 2842 4094 148.9 -14.9 76 1010 0.00 3.95 0.00 0.000 260 0.000 0.085 2042 3405 2842 2842 4094 0 0 0 0 0 0 26.72 26.26 26.73 9.55 31.84

1023 end dive: TARGET_DEPTH_EXCEEDED

state 1023 begin apogee

1030 -0.33 0.0 2042 1986 2843 4094 153.3 -15.0 78 1058 3.50 0.00 17.50 2.043 10246 0.070 0.000 2364 1987 2519 2519 4095 0 0 0 0 0 0 26.37 25.19 24.14 9.55 31.57

1059 end apogee: CONTROL_FINISHED_OK

state 1059 begin climb

1060 1.31 244.4 2364 1986 2520 4094 157.1 0.0 80 1090 5.50 4.07 15.98 2.010 10500 0.045 0.074 2881 3409 2234 2234 4095 0 0 0 0 0 0 25.77 24.70 23.67 9.50 31.84

1115 1.31 244.4 2880 3408 2234 4094 154.4 7.8 84 1130 0.00 3.83 0.00 0.000 1030 0.000 0.042 2881 1988 2234 2234 4094 0 0 0 0 0 0 25.48 25.44 25.52 9.44 31.25

1190 1.36 268.4 2880 1988 2233 4094 147.3 9.3 90 1206 0.10 4.05 3.28 0.858 10756 0.077 0.086 2898 568 2205 2205 4095 0 0 0 0 0 0 25.81 25.22 24.18 9.43 31.68

1243 1.36 268.4 2898 568 2205 4094 141.4 11.0 94 1257 0.00 3.67 0.00 0.000 1030 0.000 0.039 2898 1984 2204 2204 4094 0 0 0 0 0 0 25.84 25.79 25.86 9.43 31.33

1318 1.36 268.4 2898 1984 2203 4094 133.1 10.9 100 1332 0.00 3.97 0.00 0.000 260 0.000 0.077 2898 3407 2202 2202 4094 0 0 0 0 0 0 26.22 25.83 26.24 9.43 31.09

1369 1.36 268.4 2898 3407 2201 4094 126.8 12.2 104 1384 0.00 3.72 0.00 0.000 1030 0.000 0.041 2898 1992 2200 2200 4094 0 0 0 0 0 0 26.03 25.96 26.06 9.43 31.25

1444 1.36 268.4 2898 1992 2199 4094 118.4 11.1 110 1459 0.00 3.97 0.00 0.000 516 0.000 0.088 2899 574 2198 2198 4094 0 0 0 0 0 0 26.38 25.95 26.39 9.43 31.92

1507 1.36 268.4 2898 573 2197 4094 110.7 12.3 115 1522 0.00 3.62 0.00 0.000 1030 0.000 0.037 2898 1991 2196 2196 4094 0 0 0 0 0 0 26.16 26.11 26.20 9.42 31.21

1582 1.36 268.4 2898 1991 2195 4094 102.2 11.2 121 1597 0.00 3.90 0.00 0.000 260 0.000 0.076 2898 3404 2194 2194 4094 0 0 0 0 0 0 26.48 26.10 26.50 9.42 31.84

1645 1.36 268.4 2898 3403 2193 4094 93.4 14.5 126 1659 0.00 3.67 0.00 0.000 1030 0.000 0.041 2899 1992 2192 2192 4094 0 0 0 0 0 0 26.24 26.17 26.28 9.42 31.21

1719 1.36 268.4 2898 1992 2190 4095 84.0 11.8 132 1734 0.00 3.95 0.00 0.000 516 0.000 0.086 2898 568 2191 2191 4094 0 0 0 0 0 0 26.57 26.14 26.58 9.42 31.09

1771 1.36 268.4 2898 568 2189 4095 78.0 11.9 136 1785 0.00 3.60 0.00 0.000 1030 0.000 0.037 2898 1986 2189 2189 4094 0 0 0 0 0 0 26.32 26.27 26.35 9.43 31.76

1846 1.36 268.4 2898 1986 2187 4094 69.8 11.0 142 1860 0.00 3.90 0.00 0.000 260 0.000 0.076 2898 3405 2187 2187 4094 0 0 0 0 0 0 26.62 26.20 26.63 9.42 31.09

1885 1.36 268.4 2898 3405 2186 4094 64.9 12.0 145 1900 0.00 3.67 0.00 0.000 1030 0.000 0.042 2898 1989 2186 2186 4094 0 0 0 0 0 0 26.35 26.29 26.38 9.42 31.21

1960 1.36 268.4 2898 1989 2184 4094 56.8 10.0 151 1974 0.00 3.95 0.00 0.000 516 0.000 0.087 2899 563 2184 2184 4094 0 0 0 0 0 0 26.66 26.22 26.67 9.42 31.33

2046 1.37 271.0 2898 564 2182 4094 48.4 9.9 158 2061 0.00 3.60 0.00 0.000 1030 0.000 0.036 2898 1991 2182 2182 4094 0 0 0 0 0 0 26.42 26.37 26.45 9.41 31.21

2121 1.40 290.0 2898 1991 2181 4094 41.1 9.5 164 2136 0.00 3.88 0.00 0.000 260 0.000 0.076 2898 3406 2181 2181 4094 0 0 0 0 0 0 26.71 26.28 26.72 9.41 31.09

2184 1.40 290.0 2898 3406 2179 4094 34.0 11.8 169 2199 0.00 3.67 0.00 0.000 1030 0.000 0.041 2898 1984 2178 2178 4094 0 0 0 0 0 0 26.43 26.38 26.47 9.42 31.21

2259 1.40 290.0 2898 1984 2177 4094 26.0 10.4 175 2273 0.00 3.90 0.00 0.000 516 0.000 0.087 2899 568 2176 2176 4094 0 0 0 0 0 0 26.74 26.29 26.75 9.42 31.13

2310 1.41 294.2 2898 569 2176 4094 21.0 9.9 179 2326 0.00 3.58 0.00 0.000 1030 0.000 0.038 2899 1983 2175 2175 4094 0 0 0 0 0 0 26.47 26.42 26.51 9.41 31.17

2386 1.62 399.5 2898 1983 2174 4094 15.3 7.1 185 2403 0.75 3.88 7.03 0.581 10500 0.034 0.075 2978 3415 2051 2051 4094 0 0 0 0 0 0 26.53 26.05 25.56 9.41 31.72

2451 1.62 399.5 2978 3415 2050 4094 9.0 10.2 190 2466 0.00 3.67 0.00 0.000 1030 0.000 0.041 2978 1994 2050 2050 4094 0 0 0 0 0 0 26.41 26.35 26.45 9.39 31.72

2528 1.93 551.5 2978 1994 2049 4094 3.1 5.7 196 2557 0.93 3.92 9.02 0.532 10756 0.031 0.086 3077 574 1874 1874 4094 0 0 0 0 0 0 26.48 26.18 25.61 9.39 31.02

2570 end climb: SURFACE_DEPTH_REACHED

state 2570 begin surface coast

2584 end surface coast: CONTROL_FINISHED_OK

state 2584 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	65	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	1990	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	10	HEADING	-1	C_ROLL_CLIMB	1990	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	25	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	16	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	34	ALTIM_PULSE	1
D_ABORT	220	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	1	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	C_VBD	2520	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	0	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2479	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	250	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.917877	SEABIRD_C_H	1.1284475
MASS	74087	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	4
HD_A	0.0020000001	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	240217,025649,4744.0693,-12224.1992,2,0.8,16,16.3,0.0,0.0,10,5.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.096159,-0.229098
_SM_DEPTHo	0.76	KALMAN_X	1062.540039,-218.819321,293.695770,-193.116730,1547.767334
_SM_ANGLEo	-40.5	KALMAN_Y	1999.613770,-192.860886,584.981689,634.070801,2613.923584
GPS2	240217,030025,4744.0830,-12224.1729,5,0.8,18,16.3,0.0,0.0,10,4.8	MHEAD_RNG_PITCHd_Wd	186.5,3034,-12.3,-10.000,-21.92,3652
SPEED_LIMITS	0.173,0.248	D_GRID	174

FINISH	0.4,1.019618	_24V_AH	23.67,3.500
SM_CCo	2683,0.00,0.000,0,0,1873,555.51	_10V_AH	9.62,3.744
SM_GC	1.32,29.25,3.65,0.00,0.029,0.039,0.000,242,2005,1873,-6.98,-0.59,555.51,0,0,0,0,0,0,26.34,26.34,26.40	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,024936	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.206724	MEM	322236
HUMID	31.05	DATA_FILE_SIZE	17576,200
INTERNAL_PRESSURE	9.28126	CAP_FILE_SIZE	65365,16
TCM_TEMP	7.00	CFSIZE	1024409600,1017757696
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,5.4	GPS	240217,034701,4743.984,-12224.298,3,0.8,19,16.3,0.0,0.0,10,4.9
ALTIM_BOTTOM_PING	100.9,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	62	127	189.53	SBE_CT	133	24	75.74
Roll_motor	159	136	517.87	AA4330	256	33	200.14
VBD_pump_during_apogee	52	2042	2552.73	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1039	17	437.91
VBD_valve	0	0	0.00	SAT1001	1836	17	773.66
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	7.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	9.65
TT8	570	19	108.66
LPSleep	60	2	1.26
TT8_Active	223	19	42.54
TT8_Sampling	1878	39	719.40
TT8_CF8	29	45	12.78
TT8_Kalman	33	81	26.30
Analog_circuits	832	12	96.06
GPS_charging	0	0	0.00
Compass	298	15	43.11
RAFOS	0	0	0.00
Transponder	7	30	2.06

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	int_press	humidity
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.31	-244.4	242	1991	47	4094	0.0	0.0	0	46	0.00	0.00	-18.55	0.000	16390	0.000	0.000	242	1991	2811	2811	4094	0	0	0	0	0	0	26.39	25.60	26.41	9.01	32.00
48	-1.31	-244.4	242	1991	2811	4095	1.6	-5.9	2	77	22.65	3.90	0.00	0.000	2308	0.128	0.074	2042	3389	2814	2814	4094	0	0	0	0	0	0	25.75	25.75	25.83	9.54	32.91
137	-1.31	-244.4	2042	3389	2816	4094	29.1	-16.6	9	152	0.00	3.65	0.00	0.000	1030	0.000	0.040	2042	1996	2817	2817	4095	0	0	0	0	0	0	25.99	25.92	26.02	9.54	32.04
212	-1.31	-244.4	2042	1995	2818	4094	38.6	-12.7	15	227	0.00	3.95	0.00	0.000	516	0.000	0.082	2042	571	2819	2819	4094	0	0	0	0	0	0	26.35	25.93	26.36	9.54	32.12
240	-1.31	-244.4	2042	571	2819	4095	42.5	-13.2	17	255	0.00	3.60	0.00	0.000	1030	0.000	0.041	2042	1967	2820	2820	4095	0	0	0	0	0	0	26.10	26.04	26.15	9.54	32.63
315	-1.31	-244.4	2042	1968	2821	4094	51.7	-12.1	23	330	0.00	4.05	0.00	0.000	260	0.000	0.083	2042	3414	2821	2821	4094	0	0	0	0	0	0	26.44	26.01	26.46	9.54	31.84
343	-1.31	-244.4	2042	3414	2821	4094	55.7	-13.1	25	358	0.00	3.72	0.00	0.000	1030	0.000	0.042	2042	1988	2822	2822	4094	0	0	0	0	0	0	26.17	26.11	26.20	9.54	32.59
418	-1.31	-244.4	2042	1988	2824	4095	66.2	-14.0	31	433	0.00	3.92	0.00	0.000	516	0.000	0.083	2042	567	2824	2824	4094	0	0	0	0	0	0	26.51	26.07	26.53	9.54	31.76
458	-1.31	-244.4	2042	567	2825	4094	72.1	-14.6	34	473	0.00	3.67	0.00	0.000	1030	0.000	0.041	2042	1997	2825	2825	4094	0	0	0	0	0	0	26.25	26.19	26.28	9.54	32.39
533	-1.31	-244.4	2042	1998	2827	4094	83.0	-14.5	40	547	0.00	3.92	0.00	0.000	260	0.000	0.084	2042	3405	2827	2827	4094	0	0	0	0	0	0	26.57	26.13	26.58	9.54	31.76
574	-1.31	-244.4	2042	3405	2828	4095	89.0	-14.8	43	588	0.00	3.67	0.00	0.000	1030	0.000	0.041	2042	1988	2829	2829	4095	0	0	0	0	0	0	26.30	26.25	26.34	9.54	32.31
648	-1.31	-244.4	2042	1987	2830	4095	99.2	-13.2	49	666	0.00	3.90	0.00	0.000	516	0.000	0.082	2042	567	2831	2831	4094	0	0	0	0	0	0	26.62	26.17	26.63	9.54	31.80
679	-1.31	-244.4	2042	567	2831	4094	103.6	-13.9	51	694	0.00	3.62	0.00	0.000	1030	0.000	0.043	2042	1984	2832	2832	4094	0	0	0	0	0	0	26.33	26.27	26.36	9.54	31.61
754	-1.31	-244.4	2042	1984	2834	4094	113.8	-13.6	57	769	0.00	3.95	0.00	0.000	260	0.000	0.085	2042	3402	2834	2834	4094	0	0	0	0	0	0	26.65	26.20	26.67	9.54	31.68
806	-1.31	-244.4	2042	3402	2835	4094	121.0	-13.8	61	820	0.00	3.65	0.00	0.000	1030	0.000	0.041	2042	1990	2836	2836	4094	0	0	0	0	0	0	26.38	26.32	26.41	9.54	31.61
881	-1.31	-244.4	2042	1990	2838	4095	131.1	-13.9	67	895	0.00	3.90	0.00	0.000	516	0.000	0.083	2042	567	2838	2838	4094	0	0	0	0	0	0	26.69	26.24	26.70	9.55	31.45
921	-1.31	-244.4	2042	567	2839	4094	137.6	-15.9	70	935	0.00	3.62	0.00	0.000	1030	0.000	0.043	2042	1985	2840	2840	4094	0	0	0	0	0	0	26.41	26.34	26.44	9.55	31.37
995	-1.31	-244.4	2042	1986	2842	4094	148.9	-14.9	76	1010	0.00	3.95	0.00	0.000	260	0.000	0.085	2042	3405	2842	2842	4094	0	0	0	0	0	0	26.72	26.26	26.73	9.55	31.84
1023	end dive: TARGET_DEPTH_EXCEEDED
state	1023	begin apogee
1030	-0.33	0.0	2042	1986	2843	4094	153.3	-15.0	78	1058	3.50	0.00	17.50	2.043	10246	0.070	0.000	2364	1987	2519	2519	4095	0	0	0	0	0	0	26.37	25.19	24.14	9.55	31.57
1059	end apogee: CONTROL_FINISHED_OK
state	1059	begin climb
1060	1.31	244.4	2364	1986	2520	4094	157.1	0.0	80	1090	5.50	4.07	15.98	2.010	10500	0.045	0.074	2881	3409	2234	2234	4095	0	0	0	0	0	0	25.77	24.70	23.67	9.50	31.84
1115	1.31	244.4	2880	3408	2234	4094	154.4	7.8	84	1130	0.00	3.83	0.00	0.000	1030	0.000	0.042	2881	1988	2234	2234	4094	0	0	0	0	0	0	25.48	25.44	25.52	9.44	31.25
1190	1.36	268.4	2880	1988	2233	4094	147.3	9.3	90	1206	0.10	4.05	3.28	0.858	10756	0.077	0.086	2898	568	2205	2205	4095	0	0	0	0	0	0	25.81	25.22	24.18	9.43	31.68
1243	1.36	268.4	2898	568	2205	4094	141.4	11.0	94	1257	0.00	3.67	0.00	0.000	1030	0.000	0.039	2898	1984	2204	2204	4094	0	0	0	0	0	0	25.84	25.79	25.86	9.43	31.33
1318	1.36	268.4	2898	1984	2203	4094	133.1	10.9	100	1332	0.00	3.97	0.00	0.000	260	0.000	0.077	2898	3407	2202	2202	4094	0	0	0	0	0	0	26.22	25.83	26.24	9.43	31.09
1369	1.36	268.4	2898	3407	2201	4094	126.8	12.2	104	1384	0.00	3.72	0.00	0.000	1030	0.000	0.041	2898	1992	2200	2200	4094	0	0	0	0	0	0	26.03	25.96	26.06	9.43	31.25
1444	1.36	268.4	2898	1992	2199	4094	118.4	11.1	110	1459	0.00	3.97	0.00	0.000	516	0.000	0.088	2899	574	2198	2198	4094	0	0	0	0	0	0	26.38	25.95	26.39	9.43	31.92
1507	1.36	268.4	2898	573	2197	4094	110.7	12.3	115	1522	0.00	3.62	0.00	0.000	1030	0.000	0.037	2898	1991	2196	2196	4094	0	0	0	0	0	0	26.16	26.11	26.20	9.42	31.21
1582	1.36	268.4	2898	1991	2195	4094	102.2	11.2	121	1597	0.00	3.90	0.00	0.000	260	0.000	0.076	2898	3404	2194	2194	4094	0	0	0	0	0	0	26.48	26.10	26.50	9.42	31.84
1645	1.36	268.4	2898	3403	2193	4094	93.4	14.5	126	1659	0.00	3.67	0.00	0.000	1030	0.000	0.041	2899	1992	2192	2192	4094	0	0	0	0	0	0	26.24	26.17	26.28	9.42	31.21
1719	1.36	268.4	2898	1992	2190	4095	84.0	11.8	132	1734	0.00	3.95	0.00	0.000	516	0.000	0.086	2898	568	2191	2191	4094	0	0	0	0	0	0	26.57	26.14	26.58	9.42	31.09
1771	1.36	268.4	2898	568	2189	4095	78.0	11.9	136	1785	0.00	3.60	0.00	0.000	1030	0.000	0.037	2898	1986	2189	2189	4094	0	0	0	0	0	0	26.32	26.27	26.35	9.43	31.76
1846	1.36	268.4	2898	1986	2187	4094	69.8	11.0	142	1860	0.00	3.90	0.00	0.000	260	0.000	0.076	2898	3405	2187	2187	4094	0	0	0	0	0	0	26.62	26.20	26.63	9.42	31.09
1885	1.36	268.4	2898	3405	2186	4094	64.9	12.0	145	1900	0.00	3.67	0.00	0.000	1030	0.000	0.042	2898	1989	2186	2186	4094	0	0	0	0	0	0	26.35	26.29	26.38	9.42	31.21
1960	1.36	268.4	2898	1989	2184	4094	56.8	10.0	151	1974	0.00	3.95	0.00	0.000	516	0.000	0.087	2899	563	2184	2184	4094	0	0	0	0	0	0	26.66	26.22	26.67	9.42	31.33
2046	1.37	271.0	2898	564	2182	4094	48.4	9.9	158	2061	0.00	3.60	0.00	0.000	1030	0.000	0.036	2898	1991	2182	2182	4094	0	0	0	0	0	0	26.42	26.37	26.45	9.41	31.21
2121	1.40	290.0	2898	1991	2181	4094	41.1	9.5	164	2136	0.00	3.88	0.00	0.000	260	0.000	0.076	2898	3406	2181	2181	4094	0	0	0	0	0	0	26.71	26.28	26.72	9.41	31.09
2184	1.40	290.0	2898	3406	2179	4094	34.0	11.8	169	2199	0.00	3.67	0.00	0.000	1030	0.000	0.041	2898	1984	2178	2178	4094	0	0	0	0	0	0	26.43	26.38	26.47	9.42	31.21
2259	1.40	290.0	2898	1984	2177	4094	26.0	10.4	175	2273	0.00	3.90	0.00	0.000	516	0.000	0.087	2899	568	2176	2176	4094	0	0	0	0	0	0	26.74	26.29	26.75	9.42	31.13
2310	1.41	294.2	2898	569	2176	4094	21.0	9.9	179	2326	0.00	3.58	0.00	0.000	1030	0.000	0.038	2899	1983	2175	2175	4094	0	0	0	0	0	0	26.47	26.42	26.51	9.41	31.17
2386	1.62	399.5	2898	1983	2174	4094	15.3	7.1	185	2403	0.75	3.88	7.03	0.581	10500	0.034	0.075	2978	3415	2051	2051	4094	0	0	0	0	0	0	26.53	26.05	25.56	9.41	31.72
2451	1.62	399.5	2978	3415	2050	4094	9.0	10.2	190	2466	0.00	3.67	0.00	0.000	1030	0.000	0.041	2978	1994	2050	2050	4094	0	0	0	0	0	0	26.41	26.35	26.45	9.39	31.72
2528	1.93	551.5	2978	1994	2049	4094	3.1	5.7	196	2557	0.93	3.92	9.02	0.532	10756	0.031	0.086	3077	574	1874	1874	4094	0	0	0	0	0	0	26.48	26.18	25.61	9.39	31.02
2570	end climb: SURFACE_DEPTH_REACHED
state	2570	begin surface coast
2584	end surface coast: CONTROL_FINISHED_OK
state	2584	begin surface