Glider dive log

WA coast Jul17 * SG204 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 52 ALTIM_PULSE 2

MISSION 19 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 28 ALTIM_SENSITIVITY 2

DIVE 109 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_SURF 2 SM_CC 598.77728 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_TGT 600 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 4

D_ABORT 1020 CALL_NDIVES 1 C_VBD 2941 DEVICE1 -1

D_NO_BLEED 200 COMM_SEQ 2 VBD_DBAND 2 DEVICE2 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 4 N_NOCOMM 3 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_SAFE 0 UPLOAD_DIVES_MAX 1 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 0

D_CALL 0 CALL_TRIES 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 51

SURFACE_URGENCY 0 CALL_WAIT 120 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 85

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_DIVE 180 HEAPDBG 0 W_ADJ_DBAND 0.5 COMPASS_DEVICE 33

T_MISSION 250 T_GPS 5 DBDW 0 COMPASS2_DEVICE 147

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 PHONE_DEVICE 48

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 GPS_DEVICE 64

T_TURN_SAMPINT -5 STROBE 0 PITCH_W_GAIN 7 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_LOITER 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 SIM_PITCH 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_10V 97 SEABIRD_T_G 0.0043580476

USE_ICE 0 PITCH_MIN 210 MINV_24V 20 SEABIRD_T_H 0.00063004985

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

D_OFFGRID 1010 C_PITCH 3040 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

RELAUNCH 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

MAX_BUOY 200 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

COURSE_BIAS 0 PITCH_GAIN 22 PRESSURE_YINT -171.29309 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_XMITPROFILE 0.0

RHO 1.0275 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS 52433 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0044816299 C_ROLL_DIVE 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2700 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 SEABIRD_T_J 2.6474129e-06

AH0_24V 150 FERRY_MAX 45 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MIN 210 SM_CC 598.77728

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0014 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 STROBE 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_GAIN 7 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 HD_A 0.0044816299 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 15 ICE_FREEZE_MARGIN 0.30000001 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CALL_WAIT 120 ID 204 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -171.29309 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_DIVE 180

CF8_MAXERRORS 20 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 2 LOGGERDEVICE1 51 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERS 0 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 3040 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2700 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 52433 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX 1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 200 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 20 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 19 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 109 NOCOMM_ACTION 163 R_PORT_OVSHOOT 52 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 28 VBD_MIN 500

D_BOOST 50 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOCOMM 3 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SC_XMITPROFILE 0.0 W_ADJ_DBAND 0.5

D_NO_BLEED 200 PHONE_DEVICE 48 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_OFFGRID 1010 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 5

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043580476

D_TGT 600 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

Pre-dive calculations and measurements:

GPS1 230717,105819,4658.5820,-12511.5576,52,1.5,75,16.0,1.1,228.9,6,10.0 SPEED_LIMITS 0.192,0.223

_CALLS 15 TGT_NAME SHELF4

_XMS_NAKs 0 TGT_LATLONG 4654.000,-12503.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.40 MHEAD_RNG_PITCHd_Wd 93.3,13401,-22.7,-11.111,-26.47,2697

_SM_ANGLEo -58.8 D_GRID 1000

GPS2 230717,113945,4658.0122,-12511.8135,9,1.5,44,16.0,0.4,0.0,7,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.023038 FG_AHR_24Vo 0.000

SM_CCo 9932,93.45,0.142,0,0,500,598.78 FG_AHR_10Vo 0.000

SM_GC 0.13,10.05,0.47,93.45,0.085,0.045,0.142,190,2391,500,-8.81,1.13,598.78,0,0,0,0,0,0,26.36,26.41,25.52 MEM 278028

IRIDIUM_FIX 4659.05,-12509.87,230717,111913 DATA_FILE_SIZE 23426,666

TT8_MAMPS 0.048685,0.073402 CAP_FILE_SIZE 93146,0

HUMID 52.48 CFSIZE 260030464,250523648

INTERNAL_PRESSURE 8.63742 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.40 CURRENT 0.102,262.63,1

XPDR_PINGS 0 GPS 230717,142840,4657.476,-12511.144,33,1.8,73,16.0,0.6,0.0,7,11.0

_24V_AH 23.96,13.652 RESTART_TIME Sun Jul 23 18:48:22 2017

_10V_AH 9.92,10.469

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 253 149.25 nil 0 0 0.00

Roll_motor 75 1214 2183.76 nil 0 0 0.00

VBD_pump_during_apogee 593 835 11879.82 nil 0 0 0.00

VBD_pump_during_surface 93 142 318.60 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 0 0 0.00

Iridium_during_xfer 693 58 965.44 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 12 5.85

TT8 0 0 0.00

LPSleep 9632 2 209.27

TT8_Active 805 13 106.38

TT8_Sampling 1985 44 867.30

TT8_CF8 90 55 49.66

TT8_Kalman 0 0 0.00

Analog_circuits 2084 11 235.72

GPS_charging 0 0 0.00

Compass 952 8 77.90

RAFOS 0 0 0.00

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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5 -1.30 -194.6 193 2378 586 411 0.0 0.0 0 99 0.00 0.00 -92.62 0.000 16386 0.000 0.000 193 2378 2774 2725 2823 0 0 0 0 0 0 27.03 28.83 27.10

101 -1.30 -194.6 193 2378 2727 2823 3.4 -6.5 9 138 11.12 2.40 -19.08 0.000 18980 0.253 1.215 2622 1017 3737 3698 3776 0 0 0 0 0 0 25.15 24.19 25.59

242 -1.30 -194.6 2621 1019 3700 3778 33.7 -19.4 37 249 0.00 2.17 0.00 0.000 1030 0.000 0.043 2613 2393 3738 3700 3777 0 0 0 0 0 0 26.08 26.03 26.13

573 -1.30 -194.6 2613 2392 3702 3776 92.4 -16.5 55 573 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2392 3738 3701 3776 0 0 0 0 0 0 27.05 27.11 27.10

873 -1.30 -194.6 2613 2393 3701 3777 139.0 -15.1 65 873 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2392 3738 3701 3776 0 0 0 0 0 0 27.06 27.13 27.12

1173 -1.30 -194.6 2613 2393 3701 3777 182.6 -14.4 75 1173 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2392 3738 3701 3776 0 0 0 0 0 0 27.06 27.13 27.12

1473 -1.30 -194.6 2614 2392 3701 3775 228.7 -15.3 85 1479 0.00 2.22 0.00 0.000 516 0.000 0.050 2621 1018 3737 3700 3775 0 0 0 0 0 0 27.07 25.60 27.13

1528 -1.30 -194.6 2621 1018 3701 3776 237.2 -15.2 96 1535 0.00 2.17 0.00 0.000 1030 0.000 0.041 2613 2390 3737 3699 3775 0 0 0 0 0 0 25.84 25.78 25.88

1863 -1.30 -194.6 2613 2390 3698 3774 288.0 -15.0 104 1869 0.00 2.17 0.00 0.000 260 0.000 0.065 2603 3696 3735 3696 3774 0 0 0 0 0 0 27.07 25.24 27.13

1903 -1.30 -194.6 2604 3696 3696 3774 294.3 -16.0 112 1909 0.00 2.03 0.00 0.000 1030 0.000 0.041 2611 2405 3734 3695 3774 0 0 0 0 0 0 26.03 25.99 26.06

2223 -1.30 -194.6 2610 2406 3694 3771 343.0 -15.3 121 2230 0.00 2.22 0.00 0.000 516 0.000 0.047 2621 1013 3732 3694 3770 0 0 0 0 0 0 27.06 25.58 27.13

2273 -1.30 -194.6 2621 1014 3694 3772 350.6 -14.9 131 2279 0.00 2.22 0.00 0.000 1030 0.000 0.045 2612 2395 3731 3693 3770 0 0 0 0 0 0 25.70 25.65 25.76

2584 -1.30 -194.6 2612 2395 3693 3769 396.7 -14.8 138 2585 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2394 3730 3693 3768 0 0 0 0 0 0 27.06 27.13 27.13

2884 -1.30 -194.6 2612 2395 3692 3767 440.3 -14.4 143 2889 0.00 2.25 0.00 0.000 516 0.000 0.048 2621 1003 3728 3691 3766 0 0 0 0 0 0 27.07 25.52 27.13

2923 -1.30 -194.6 2621 1003 3692 3766 446.0 -14.2 151 2930 0.00 2.25 0.00 0.000 1030 0.000 0.042 2612 2407 3728 3691 3766 0 0 0 0 0 0 25.72 25.68 25.77

3244 -1.30 -194.6 2613 2408 3690 3765 491.1 -14.2 160 3249 0.00 2.17 0.00 0.000 260 0.000 0.070 2602 3696 3726 3688 3765 0 0 0 0 0 0 27.06 25.03 27.13

3284 -1.30 -194.6 2602 3697 3688 3766 497.3 -15.8 168 3289 0.00 2.05 0.00 0.000 1030 0.000 0.043 2610 2403 3726 3688 3765 0 0 0 0 0 0 25.94 25.91 25.98

3604 -1.30 -194.6 2610 2404 3686 3762 543.8 -14.5 177 3610 0.00 2.28 0.00 0.000 516 0.000 0.050 2621 996 3723 3686 3761 0 0 0 0 0 0 27.07 25.46 27.12

3640 -1.30 -194.6 2621 996 3687 3761 549.0 -14.5 184 3645 0.00 2.25 0.00 0.000 1030 0.000 0.043 2612 2397 3723 3686 3761 0 0 0 0 0 0 25.69 25.65 25.74

3965 -1.30 -194.6 2612 2398 3685 3762 594.7 -14.0 194 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2396 3723 3685 3761 0 0 0 0 0 0 27.06 27.13 27.13

4023 end dive: TARGET_DEPTH_EXCEEDED

state 4023 begin apogee

4027 -0.23 0.0 2610 2713 3686 3761 602.8 -13.8 195 4238 1.42 0.00 208.12 0.835 10246 0.194 0.000 2956 2713 2940 3009 2872 0 0 0 0 0 0 24.03 24.96 24.04

4239 end apogee: CONTROL_FINISHED_OK

state 4239 begin climb

4240 1.30 194.6 2957 2713 3004 2865 612.1 0.0 198 4459 1.67 1.70 208.73 0.806 10500 0.138 0.070 3440 3685 2136 2215 2057 0 0 0 0 0 0 25.03 24.92 23.96

4593 1.30 194.6 3440 3685 2201 2045 587.1 12.8 274 4599 0.00 1.55 0.00 0.000 1030 0.000 0.041 3445 2698 2122 2200 2044 0 0 0 0 0 0 26.18 26.15 26.22

4933 1.30 194.6 3445 2699 2199 2042 546.4 12.1 287 4939 0.00 2.20 0.00 0.000 516 0.000 0.041 3456 1299 2119 2198 2041 0 0 0 0 0 0 26.97 25.98 27.03

5033 1.30 194.6 3456 1299 2200 2041 534.6 12.2 307 5039 0.00 2.22 0.00 0.000 1030 0.000 0.041 3447 2698 2119 2197 2041 0 0 0 0 0 0 26.06 26.01 26.10

5354 1.30 194.6 3447 2699 2196 2041 498.1 11.3 316 5354 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2698 2117 2195 2040 0 0 0 0 0 0 27.02 27.09 27.08

5653 1.30 194.6 3447 2699 2195 2040 463.7 11.4 321 5654 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2698 2115 2193 2038 0 0 0 0 0 0 27.03 27.10 27.09

5953 1.30 194.6 3447 2699 2194 2039 430.1 11.1 326 5959 0.00 2.22 0.00 0.000 516 0.000 0.040 3455 1295 2115 2193 2038 0 0 0 0 0 0 27.03 25.84 27.10

6018 1.30 194.6 3456 1295 2194 2038 422.5 11.8 339 6024 0.00 2.22 0.00 0.000 1030 0.000 0.041 3447 2698 2115 2193 2038 0 0 0 0 0 0 25.92 25.86 25.96

6373 1.30 194.6 3447 2698 2193 2037 381.8 11.4 355 6379 0.00 2.22 0.00 0.000 516 0.000 0.040 3456 1297 2114 2192 2037 0 0 0 0 0 0 27.04 25.80 27.10

6403 1.30 194.6 3456 1297 2193 2037 378.3 11.5 361 6410 0.00 2.22 0.00 0.000 1030 0.000 0.040 3447 2696 2114 2192 2037 0 0 0 0 0 0 25.87 25.83 25.93

6734 1.30 194.6 3447 2696 2192 2037 339.6 11.7 372 6739 0.00 2.20 0.00 0.000 516 0.000 0.039 3456 1302 2114 2191 2037 0 0 0 0 0 0 27.04 25.79 27.10

6808 1.30 194.6 3455 1303 2192 2038 331.0 11.3 387 6815 0.00 2.22 0.00 0.000 1030 0.000 0.041 3447 2695 2114 2191 2037 0 0 0 0 0 0 25.82 25.76 25.85

7154 1.30 194.6 3447 2696 2191 2038 292.9 10.9 401 7160 0.00 2.20 0.00 0.000 516 0.000 0.039 3456 1300 2113 2190 2037 0 0 0 0 0 0 27.04 25.77 27.10

7249 1.32 208.7 3456 1300 2192 2037 282.7 10.6 420 7265 0.00 2.22 11.02 0.689 9254 0.000 0.041 3447 2700 2087 2166 2009 0 0 0 0 0 0 25.80 25.75 24.77

7575 1.35 225.7 3447 2700 2152 1996 248.5 10.5 430 7596 0.00 0.00 19.62 0.685 8742 0.000 0.000 3448 2699 2019 2100 1938 0 0 0 0 0 0 27.01 25.58 24.76

7905 1.35 225.7 3448 2699 2082 1918 211.7 11.3 446 7911 0.00 2.22 0.00 0.000 516 0.000 0.041 3456 1298 1999 2080 1919 0 0 0 0 0 0 26.98 25.92 27.05

7970 1.35 225.7 3455 1299 2080 1921 204.2 11.7 459 7976 0.00 2.22 0.00 0.000 1030 0.000 0.041 3447 2696 1999 2080 1919 0 0 0 0 0 0 25.98 25.94 26.03

8295 1.35 225.7 3447 2698 2080 1920 165.0 12.0 474 8301 0.00 2.22 0.00 0.000 516 0.000 0.040 3456 1294 1998 2079 1918 0 0 0 0 0 0 27.03 25.83 27.09

8365 1.35 225.7 3456 1294 2080 1918 156.6 12.0 488 8371 0.00 2.22 0.00 0.000 1030 0.000 0.040 3447 2693 1999 2080 1918 0 0 0 0 0 0 25.89 25.84 25.94

8685 1.35 225.7 3448 2694 2079 1918 121.0 10.7 502 8691 0.00 2.20 0.00 0.000 516 0.000 0.038 3455 1299 1998 2078 1918 0 0 0 0 0 0 27.03 25.79 27.10

8890 1.43 281.9 3456 1300 2079 1919 101.7 9.0 543 8967 0.12 2.22 72.10 0.594 11302 0.121 0.041 3500 2697 1789 1877 1701 0 0 0 0 0 0 25.35 25.76 24.60

9287 1.43 281.9 3500 2697 1852 1676 55.8 10.8 572 9292 0.00 2.20 0.00 0.000 516 0.000 0.038 3509 1299 1764 1852 1676 0 0 0 0 0 0 26.94 25.98 27.00

9517 1.46 307.8 3510 1300 1851 1677 32.3 10.1 618 9533 0.00 2.22 11.52 0.201 9254 0.000 0.039 3511 2707 1682 1773 1592 0 0 0 0 0 0 25.98 25.93 25.15

9837 1.66 450.6 3509 2708 1786 1607 6.7 5.7 652 9902 0.20 0.00 62.40 0.156 10786 0.130 0.000 3571 2708 1200 1310 1091 0 0 0 0 0 0 26.24 28.83 26.30

9902 end climb: SURFACE_DEPTH_REACHED

state 9902 begin surface coast

9916 end surface coast: CONTROL_FINISHED_OK

state 9916 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	52	ALTIM_PULSE	2
MISSION	19	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2
DIVE	109	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_SURF	2	SM_CC	598.77728	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_TGT	600	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	4
D_ABORT	1020	CALL_NDIVES	1	C_VBD	2941	DEVICE1	-1
D_NO_BLEED	200	COMM_SEQ	2	VBD_DBAND	2	DEVICE2	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	4	N_NOCOMM	3	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_SAFE	0	UPLOAD_DIVES_MAX	1	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	0
D_CALL	0	CALL_TRIES	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	51
SURFACE_URGENCY	0	CALL_WAIT	120	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	85
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_DIVE	180	HEAPDBG	0	W_ADJ_DBAND	0.5	COMPASS_DEVICE	33
T_MISSION	250	T_GPS	5	DBDW	0	COMPASS2_DEVICE	147
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	PHONE_DEVICE	48
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	GPS_DEVICE	64
T_TURN_SAMPINT	-5	STROBE	0	PITCH_W_GAIN	7	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_LOITER	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	SIM_PITCH	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_10V	97	SEABIRD_T_G	0.0043580476
USE_ICE	0	PITCH_MIN	210	MINV_24V	20	SEABIRD_T_H	0.00063004985
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
D_OFFGRID	1010	C_PITCH	3040	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
RELAUNCH	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
MAX_BUOY	200	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
COURSE_BIAS	0	PITCH_GAIN	22	PRESSURE_YINT	-171.29309	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_XMITPROFILE	0.0
RHO	1.0275	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS	52433	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0044816299	C_ROLL_DIVE	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2700	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13

GPS1	230717,105819,4658.5820,-12511.5576,52,1.5,75,16.0,1.1,228.9,6,10.0	SPEED_LIMITS	0.192,0.223
_CALLS	15	TGT_NAME	SHELF4
_XMS_NAKs	0	TGT_LATLONG	4654.000,-12503.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.40	MHEAD_RNG_PITCHd_Wd	93.3,13401,-22.7,-11.111,-26.47,2697
_SM_ANGLEo	-58.8	D_GRID	1000
GPS2	230717,113945,4658.0122,-12511.8135,9,1.5,44,16.0,0.4,0.0,7,10.0

FINISH	0.1,1.023038	FG_AHR_24Vo	0.000
SM_CCo	9932,93.45,0.142,0,0,500,598.78	FG_AHR_10Vo	0.000
SM_GC	0.13,10.05,0.47,93.45,0.085,0.045,0.142,190,2391,500,-8.81,1.13,598.78,0,0,0,0,0,0,26.36,26.41,25.52	MEM	278028
IRIDIUM_FIX	4659.05,-12509.87,230717,111913	DATA_FILE_SIZE	23426,666
TT8_MAMPS	0.048685,0.073402	CAP_FILE_SIZE	93146,0
HUMID	52.48	CFSIZE	260030464,250523648
INTERNAL_PRESSURE	8.63742	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.40	CURRENT	0.102,262.63,1
XPDR_PINGS	0	GPS	230717,142840,4657.476,-12511.144,33,1.8,73,16.0,0.6,0.0,7,11.0
_24V_AH	23.96,13.652	RESTART_TIME	Sun Jul 23 18:48:22 2017
_10V_AH	9.92,10.469

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	253	149.25	nil	0	0	0.00
Roll_motor	75	1214	2183.76	nil	0	0	0.00
VBD_pump_during_apogee	593	835	11879.82	nil	0	0	0.00
VBD_pump_during_surface	93	142	318.60	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	0	0	0.00
Iridium_during_xfer	693	58	965.44	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	12	5.85
TT8	0	0	0.00
LPSleep	9632	2	209.27
TT8_Active	805	13	106.38
TT8_Sampling	1985	44	867.30
TT8_CF8	90	55	49.66
TT8_Kalman	0	0	0.00
Analog_circuits	2084	11	235.72
GPS_charging	0	0	0.00
Compass	952	8	77.90
RAFOS	0	0	0.00
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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5	-1.30	-194.6	193	2378	586	411	0.0	0.0	0	99	0.00	0.00	-92.62	0.000	16386	0.000	0.000	193	2378	2774	2725	2823	0	0	0	0	0	0	27.03	28.83	27.10
101	-1.30	-194.6	193	2378	2727	2823	3.4	-6.5	9	138	11.12	2.40	-19.08	0.000	18980	0.253	1.215	2622	1017	3737	3698	3776	0	0	0	0	0	0	25.15	24.19	25.59
242	-1.30	-194.6	2621	1019	3700	3778	33.7	-19.4	37	249	0.00	2.17	0.00	0.000	1030	0.000	0.043	2613	2393	3738	3700	3777	0	0	0	0	0	0	26.08	26.03	26.13
573	-1.30	-194.6	2613	2392	3702	3776	92.4	-16.5	55	573	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2392	3738	3701	3776	0	0	0	0	0	0	27.05	27.11	27.10
873	-1.30	-194.6	2613	2393	3701	3777	139.0	-15.1	65	873	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2392	3738	3701	3776	0	0	0	0	0	0	27.06	27.13	27.12
1173	-1.30	-194.6	2613	2393	3701	3777	182.6	-14.4	75	1173	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2392	3738	3701	3776	0	0	0	0	0	0	27.06	27.13	27.12
1473	-1.30	-194.6	2614	2392	3701	3775	228.7	-15.3	85	1479	0.00	2.22	0.00	0.000	516	0.000	0.050	2621	1018	3737	3700	3775	0	0	0	0	0	0	27.07	25.60	27.13
1528	-1.30	-194.6	2621	1018	3701	3776	237.2	-15.2	96	1535	0.00	2.17	0.00	0.000	1030	0.000	0.041	2613	2390	3737	3699	3775	0	0	0	0	0	0	25.84	25.78	25.88
1863	-1.30	-194.6	2613	2390	3698	3774	288.0	-15.0	104	1869	0.00	2.17	0.00	0.000	260	0.000	0.065	2603	3696	3735	3696	3774	0	0	0	0	0	0	27.07	25.24	27.13
1903	-1.30	-194.6	2604	3696	3696	3774	294.3	-16.0	112	1909	0.00	2.03	0.00	0.000	1030	0.000	0.041	2611	2405	3734	3695	3774	0	0	0	0	0	0	26.03	25.99	26.06
2223	-1.30	-194.6	2610	2406	3694	3771	343.0	-15.3	121	2230	0.00	2.22	0.00	0.000	516	0.000	0.047	2621	1013	3732	3694	3770	0	0	0	0	0	0	27.06	25.58	27.13
2273	-1.30	-194.6	2621	1014	3694	3772	350.6	-14.9	131	2279	0.00	2.22	0.00	0.000	1030	0.000	0.045	2612	2395	3731	3693	3770	0	0	0	0	0	0	25.70	25.65	25.76
2584	-1.30	-194.6	2612	2395	3693	3769	396.7	-14.8	138	2585	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2394	3730	3693	3768	0	0	0	0	0	0	27.06	27.13	27.13
2884	-1.30	-194.6	2612	2395	3692	3767	440.3	-14.4	143	2889	0.00	2.25	0.00	0.000	516	0.000	0.048	2621	1003	3728	3691	3766	0	0	0	0	0	0	27.07	25.52	27.13
2923	-1.30	-194.6	2621	1003	3692	3766	446.0	-14.2	151	2930	0.00	2.25	0.00	0.000	1030	0.000	0.042	2612	2407	3728	3691	3766	0	0	0	0	0	0	25.72	25.68	25.77
3244	-1.30	-194.6	2613	2408	3690	3765	491.1	-14.2	160	3249	0.00	2.17	0.00	0.000	260	0.000	0.070	2602	3696	3726	3688	3765	0	0	0	0	0	0	27.06	25.03	27.13
3284	-1.30	-194.6	2602	3697	3688	3766	497.3	-15.8	168	3289	0.00	2.05	0.00	0.000	1030	0.000	0.043	2610	2403	3726	3688	3765	0	0	0	0	0	0	25.94	25.91	25.98
3604	-1.30	-194.6	2610	2404	3686	3762	543.8	-14.5	177	3610	0.00	2.28	0.00	0.000	516	0.000	0.050	2621	996	3723	3686	3761	0	0	0	0	0	0	27.07	25.46	27.12
3640	-1.30	-194.6	2621	996	3687	3761	549.0	-14.5	184	3645	0.00	2.25	0.00	0.000	1030	0.000	0.043	2612	2397	3723	3686	3761	0	0	0	0	0	0	25.69	25.65	25.74
3965	-1.30	-194.6	2612	2398	3685	3762	594.7	-14.0	194	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2396	3723	3685	3761	0	0	0	0	0	0	27.06	27.13	27.13
4023	end dive: TARGET_DEPTH_EXCEEDED
state	4023	begin apogee
4027	-0.23	0.0	2610	2713	3686	3761	602.8	-13.8	195	4238	1.42	0.00	208.12	0.835	10246	0.194	0.000	2956	2713	2940	3009	2872	0	0	0	0	0	0	24.03	24.96	24.04
4239	end apogee: CONTROL_FINISHED_OK
state	4239	begin climb
4240	1.30	194.6	2957	2713	3004	2865	612.1	0.0	198	4459	1.67	1.70	208.73	0.806	10500	0.138	0.070	3440	3685	2136	2215	2057	0	0	0	0	0	0	25.03	24.92	23.96
4593	1.30	194.6	3440	3685	2201	2045	587.1	12.8	274	4599	0.00	1.55	0.00	0.000	1030	0.000	0.041	3445	2698	2122	2200	2044	0	0	0	0	0	0	26.18	26.15	26.22
4933	1.30	194.6	3445	2699	2199	2042	546.4	12.1	287	4939	0.00	2.20	0.00	0.000	516	0.000	0.041	3456	1299	2119	2198	2041	0	0	0	0	0	0	26.97	25.98	27.03
5033	1.30	194.6	3456	1299	2200	2041	534.6	12.2	307	5039	0.00	2.22	0.00	0.000	1030	0.000	0.041	3447	2698	2119	2197	2041	0	0	0	0	0	0	26.06	26.01	26.10
5354	1.30	194.6	3447	2699	2196	2041	498.1	11.3	316	5354	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2698	2117	2195	2040	0	0	0	0	0	0	27.02	27.09	27.08
5653	1.30	194.6	3447	2699	2195	2040	463.7	11.4	321	5654	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2698	2115	2193	2038	0	0	0	0	0	0	27.03	27.10	27.09
5953	1.30	194.6	3447	2699	2194	2039	430.1	11.1	326	5959	0.00	2.22	0.00	0.000	516	0.000	0.040	3455	1295	2115	2193	2038	0	0	0	0	0	0	27.03	25.84	27.10
6018	1.30	194.6	3456	1295	2194	2038	422.5	11.8	339	6024	0.00	2.22	0.00	0.000	1030	0.000	0.041	3447	2698	2115	2193	2038	0	0	0	0	0	0	25.92	25.86	25.96
6373	1.30	194.6	3447	2698	2193	2037	381.8	11.4	355	6379	0.00	2.22	0.00	0.000	516	0.000	0.040	3456	1297	2114	2192	2037	0	0	0	0	0	0	27.04	25.80	27.10
6403	1.30	194.6	3456	1297	2193	2037	378.3	11.5	361	6410	0.00	2.22	0.00	0.000	1030	0.000	0.040	3447	2696	2114	2192	2037	0	0	0	0	0	0	25.87	25.83	25.93
6734	1.30	194.6	3447	2696	2192	2037	339.6	11.7	372	6739	0.00	2.20	0.00	0.000	516	0.000	0.039	3456	1302	2114	2191	2037	0	0	0	0	0	0	27.04	25.79	27.10
6808	1.30	194.6	3455	1303	2192	2038	331.0	11.3	387	6815	0.00	2.22	0.00	0.000	1030	0.000	0.041	3447	2695	2114	2191	2037	0	0	0	0	0	0	25.82	25.76	25.85
7154	1.30	194.6	3447	2696	2191	2038	292.9	10.9	401	7160	0.00	2.20	0.00	0.000	516	0.000	0.039	3456	1300	2113	2190	2037	0	0	0	0	0	0	27.04	25.77	27.10
7249	1.32	208.7	3456	1300	2192	2037	282.7	10.6	420	7265	0.00	2.22	11.02	0.689	9254	0.000	0.041	3447	2700	2087	2166	2009	0	0	0	0	0	0	25.80	25.75	24.77
7575	1.35	225.7	3447	2700	2152	1996	248.5	10.5	430	7596	0.00	0.00	19.62	0.685	8742	0.000	0.000	3448	2699	2019	2100	1938	0	0	0	0	0	0	27.01	25.58	24.76
7905	1.35	225.7	3448	2699	2082	1918	211.7	11.3	446	7911	0.00	2.22	0.00	0.000	516	0.000	0.041	3456	1298	1999	2080	1919	0	0	0	0	0	0	26.98	25.92	27.05
7970	1.35	225.7	3455	1299	2080	1921	204.2	11.7	459	7976	0.00	2.22	0.00	0.000	1030	0.000	0.041	3447	2696	1999	2080	1919	0	0	0	0	0	0	25.98	25.94	26.03
8295	1.35	225.7	3447	2698	2080	1920	165.0	12.0	474	8301	0.00	2.22	0.00	0.000	516	0.000	0.040	3456	1294	1998	2079	1918	0	0	0	0	0	0	27.03	25.83	27.09
8365	1.35	225.7	3456	1294	2080	1918	156.6	12.0	488	8371	0.00	2.22	0.00	0.000	1030	0.000	0.040	3447	2693	1999	2080	1918	0	0	0	0	0	0	25.89	25.84	25.94
8685	1.35	225.7	3448	2694	2079	1918	121.0	10.7	502	8691	0.00	2.20	0.00	0.000	516	0.000	0.038	3455	1299	1998	2078	1918	0	0	0	0	0	0	27.03	25.79	27.10
8890	1.43	281.9	3456	1300	2079	1919	101.7	9.0	543	8967	0.12	2.22	72.10	0.594	11302	0.121	0.041	3500	2697	1789	1877	1701	0	0	0	0	0	0	25.35	25.76	24.60
9287	1.43	281.9	3500	2697	1852	1676	55.8	10.8	572	9292	0.00	2.20	0.00	0.000	516	0.000	0.038	3509	1299	1764	1852	1676	0	0	0	0	0	0	26.94	25.98	27.00
9517	1.46	307.8	3510	1300	1851	1677	32.3	10.1	618	9533	0.00	2.22	11.52	0.201	9254	0.000	0.039	3511	2707	1682	1773	1592	0	0	0	0	0	0	25.98	25.93	25.15
9837	1.66	450.6	3509	2708	1786	1607	6.7	5.7	652	9902	0.20	0.00	62.40	0.156	10786	0.130	0.000	3571	2708	1200	1310	1091	0	0	0	0	0	0	26.24	28.83	26.30
9902	end climb: SURFACE_DEPTH_REACHED
state	9902	begin surface coast
9916	end surface coast: CONTROL_FINISHED_OK
state	9916	begin surface