Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 11 * 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 11 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 10 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 25 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 10 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 25 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 11 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 240217,034701,4743.9839,-12224.2979,3,0.8,19,16.3,0.0,0.0,10,4.9 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161662,-0.188674

_SM_DEPTHo 1.43 KALMAN_X 276.943115,95.582947,742.053772,-311.569580,625.021973

_SM_ANGLEo -64.1 KALMAN_Y 992.003906,314.960968,1355.222412,200.468170,1172.590332

GPS2 240217,035205,4743.9897,-12224.2930,5,0.8,23,16.3,0.0,0.0,9,4.8 MHEAD_RNG_PITCHd_Wd 204.3,2830,-12.3,-10.000,-21.92,3652

SPEED_LIMITS 0.173,0.248 D_GRID 173

Post-dive calculations and measurements:

SM_CCo 2659,88.57,0.641,0,0,50,2118.17 _24V_AH 23.70,3.551

SM_GC 0.81,28.58,3.75,0.00,0.027,0.035,0.000,243,1983,50,-6.98,0.82,2121.60,0,0,1,0,0,0,25.67,25.65,25.77 _10V_AH 9.58,3.798

IRIDIUM_FIX 4748.51,-12337.82,240217,025730 FG_AHR_24Vo 0.000

TT8_MAMPS 0.025466,0.229943 FG_AHR_10Vo 0.000

HUMID 30.82 MEM 322236

INTERNAL_PRESSURE 8.93945 DATA_FILE_SIZE 17780,208

TCM_TEMP 7.10 CAP_FILE_SIZE 59355,0

XPDR_PINGS 0 CFSIZE 1024409600,1017692160

ALTIM_TOP_PING 19.1,5.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

ALTIM_BOTTOM_PING 101.2,4.7 GPS 240217,044246,4743.835,-12224.527,23,1.0,68,16.3,0.0,0.0,8,3.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 61 136 197.35 SBE_CT 139 24 79.25

Roll_motor 144 155 531.74 AA4330 266 33 208.60

VBD_pump_during_apogee 45 2025 2174.83 nil 0 0 0.00

VBD_pump_during_surface 88 641 1345.75 SAT1000 1080 17 455.95

VBD_valve 0 0 0.00 SAT1001 1909 17 805.38

Iridium_during_init 22 103 54.40 nil 0 0 0.00

Iridium_during_connect 34 160 130.46 nil 0 0 0.00

Iridium_during_xfer 162 223 861.36 nil 0 0 0.00

Transponder_ping 0 420 7.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 50 11.77

TT8 598 19 113.52

LPSleep 90 2 1.90

TT8_Active 292 19 55.48

TT8_Sampling 2186 39 833.84

TT8_CF8 37 45 16.41

TT8_Kalman 33 81 26.22

Analog_circuits 868 12 99.88

GPS_charging 0 0 0.00

Compass 327 15 47.09

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 1992 1873 4094 0.0 0.0 0 33 0.00 0.00 -6.20 0.000 16390 0.000 0.000 242 1992 2811 2811 4095 0 0 0 0 0 0 26.45 25.63 26.46 9.34 32.39

35 -1.31 -244.4 242 1992 2811 4094 1.5 0.0 1 65 23.10 3.85 0.00 0.000 2564 0.136 0.066 2047 565 2814 2814 4094 0 0 0 0 0 0 25.78 25.78 25.86 9.53 31.92

113 -1.31 -244.4 2046 565 2816 4095 30.2 -27.6 7 128 0.00 3.67 0.00 0.000 1030 0.000 0.041 2047 1979 2817 2817 4094 0 0 0 0 0 0 26.00 25.94 26.03 9.54 31.57

188 -1.31 -244.4 2046 1979 2818 4094 40.3 -13.3 13 203 0.00 4.05 0.00 0.000 260 0.000 0.087 2047 3408 2819 2819 4094 0 0 0 0 0 0 26.36 25.92 26.38 9.54 31.41

229 -1.31 -244.4 2046 3409 2819 4095 45.8 -13.6 16 244 0.00 3.72 0.00 0.000 1030 0.000 0.041 2047 1985 2820 2820 4094 0 0 0 0 0 0 26.12 26.07 26.14 9.54 31.29

304 -1.31 -244.4 2046 1986 2822 4094 55.4 -12.7 22 318 0.00 3.92 0.00 0.000 516 0.000 0.084 2047 571 2822 2822 4094 0 0 0 0 0 0 26.46 26.03 26.48 9.54 31.72

355 -1.31 -244.4 2046 571 2823 4094 62.4 -13.8 26 370 0.00 3.65 0.00 0.000 1030 0.000 0.042 2047 1988 2823 2823 4094 0 0 0 0 0 0 26.21 26.15 26.25 9.54 31.29

430 -1.31 -244.4 2046 1988 2824 4095 72.1 -12.3 32 444 0.00 3.97 0.00 0.000 260 0.000 0.086 2047 3402 2825 2825 4094 0 0 0 0 0 0 26.55 26.09 26.55 9.54 31.21

469 -1.31 -244.4 2046 3402 2826 4094 77.5 -13.5 35 484 0.00 3.67 0.00 0.000 1030 0.000 0.041 2047 1989 2826 2826 4094 0 0 0 0 0 0 26.28 26.22 26.32 9.54 31.61

545 -1.31 -244.4 2046 1989 2827 4094 87.1 -13.1 41 560 0.00 3.90 0.00 0.000 516 0.000 0.083 2047 575 2828 2828 4095 0 0 0 0 0 0 26.60 26.16 26.61 9.54 31.76

597 -1.31 -244.4 2046 575 2829 4095 94.5 -14.0 45 611 0.00 3.62 0.00 0.000 1030 0.000 0.042 2047 1989 2830 2830 4094 0 0 0 0 0 0 26.33 26.30 26.36 9.54 31.49

674 -1.31 -244.4 2046 1989 2831 4094 104.6 -13.0 51 689 0.00 3.95 0.00 0.000 260 0.000 0.086 2047 3403 2832 2832 4094 0 0 0 0 0 0 26.65 26.20 26.66 9.54 31.02

726 -1.31 -244.4 2046 3403 2833 4095 111.3 -12.9 55 739 0.00 3.65 0.00 0.000 1030 0.000 0.041 2047 1992 2833 2833 4094 0 0 0 0 0 0 26.38 26.32 26.41 9.54 31.13

799 -1.31 -244.4 2046 1991 2835 4094 121.0 -13.4 61 814 0.00 3.90 0.00 0.000 516 0.000 0.084 2047 571 2835 2835 4095 0 0 0 0 0 0 26.69 26.24 26.70 9.54 31.33

840 -1.31 -244.4 2046 571 2837 4094 126.9 -14.5 64 855 0.00 3.62 0.00 0.000 1030 0.000 0.044 2047 1983 2837 2837 4095 0 0 0 0 0 0 26.39 26.32 26.46 9.54 31.17

915 -1.31 -244.4 2046 1984 2839 4094 137.1 -13.1 70 930 0.00 3.97 0.00 0.000 260 0.000 0.086 2047 3409 2840 2840 4094 0 0 0 0 0 0 26.72 26.25 26.73 9.54 31.53

956 -1.31 -244.4 2046 3409 2841 4094 142.5 -13.6 73 971 0.00 3.67 0.00 0.000 1030 0.000 0.041 2047 1987 2841 2841 4094 0 0 0 0 0 0 26.44 26.37 26.47 9.54 31.13

1019 end dive: TARGET_DEPTH_EXCEEDED

state 1019 begin apogee

1022 -0.33 0.0 2047 1986 2842 4094 151.1 -13.5 78 1050 3.45 0.00 17.52 2.026 10246 0.072 0.000 2362 1983 2519 2519 4094 0 0 0 0 0 0 26.39 25.21 24.18 9.54 30.94

1051 end apogee: CONTROL_FINISHED_OK

state 1051 begin climb

1052 1.31 244.4 2362 1983 2519 4094 154.3 0.0 80 1082 5.53 4.07 15.75 2.000 10500 0.045 0.073 2880 3412 2239 2239 4095 0 0 0 0 0 0 25.80 24.72 23.70 9.49 31.17

1131 1.33 254.6 2879 3412 2238 4095 149.4 9.7 86 1146 0.00 3.80 2.75 0.615 9222 0.000 0.041 2880 1991 2222 2222 4094 0 0 0 0 0 0 25.64 25.55 24.05 9.44 30.86

1206 1.33 254.6 2879 1991 2220 4094 141.8 10.1 92 1220 0.00 4.03 0.00 0.000 516 0.000 0.086 2880 569 2220 2220 4094 0 0 0 0 0 0 26.06 25.63 26.06 9.43 30.94

1257 1.33 254.6 2879 569 2219 4094 136.3 10.8 96 1272 0.00 3.67 0.00 0.000 1030 0.000 0.037 2880 1990 2219 2219 4094 0 0 0 0 0 0 25.90 25.85 25.93 9.43 31.61

1332 1.36 268.9 2879 1990 2218 4094 128.9 9.6 102 1348 0.10 3.95 2.53 0.431 10500 0.075 0.076 2896 3404 2206 2206 4094 0 0 0 0 0 0 26.06 25.46 24.46 9.43 31.45

1397 1.36 268.9 2896 3404 2205 4094 121.5 11.9 107 1411 0.00 3.70 0.00 0.000 1030 0.000 0.041 2896 1994 2204 2204 4095 0 0 0 0 0 0 26.05 25.99 26.08 9.42 30.98

1472 1.36 268.9 2896 1994 2202 4094 113.2 10.5 113 1486 0.00 3.97 0.00 0.000 516 0.000 0.086 2896 570 2201 2201 4094 0 0 0 0 0 0 26.40 25.96 26.41 9.43 30.86

1500 1.36 268.9 2896 570 2201 4094 110.1 10.9 115 1514 0.00 3.62 0.00 0.000 1030 0.000 0.038 2896 1985 2201 2201 4094 0 0 0 0 0 0 26.15 26.09 26.18 9.43 31.02

1575 1.36 268.9 2896 1985 2199 4094 101.7 10.9 121 1588 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1985 2199 2199 4094 0 0 0 0 0 0 26.47 26.48 26.48 9.42 30.66

1649 1.36 268.9 2896 1985 2197 4094 94.1 10.2 127 1663 0.00 3.90 0.00 0.000 260 0.000 0.076 2897 3401 2197 2197 4094 0 0 0 0 0 0 26.52 26.10 26.53 9.42 31.68

1688 1.36 268.9 2896 3401 2196 4094 89.6 11.1 130 1703 0.00 3.67 0.00 0.000 1030 0.000 0.041 2896 1990 2195 2195 4094 0 0 0 0 0 0 26.26 26.20 26.29 9.42 31.72

1763 1.36 268.9 2896 1989 2195 4094 81.7 10.2 136 1777 0.00 3.92 0.00 0.000 516 0.000 0.087 2896 574 2194 2194 4094 0 0 0 0 0 0 26.58 26.15 26.59 9.42 31.09

1826 1.36 268.9 2896 574 2193 4094 74.9 11.1 141 1840 0.00 3.58 0.00 0.000 1030 0.000 0.037 2896 1984 2193 2193 4094 0 0 0 0 0 0 26.34 26.28 26.36 9.42 31.05

1900 1.36 268.9 2896 1985 2191 4094 67.1 10.1 147 1915 0.00 3.90 0.00 0.000 260 0.000 0.076 2897 3403 2191 2191 4094 0 0 0 0 0 0 26.63 26.20 26.65 9.42 31.09

1951 1.36 268.9 2896 3403 2189 4094 61.4 11.2 151 1966 0.00 3.65 0.00 0.000 1030 0.000 0.041 2896 1993 2190 2190 4094 0 0 0 0 0 0 26.36 26.30 26.40 9.42 31.45

2026 1.39 281.4 2896 1993 2188 4094 54.0 9.7 157 2041 0.00 3.92 0.00 0.000 516 0.000 0.086 2896 570 2188 2188 4094 0 0 0 0 0 0 26.67 26.23 26.69 9.42 31.76

2101 1.39 281.4 2896 570 2187 4094 46.5 10.2 163 2116 0.00 3.60 0.00 0.000 1030 0.000 0.038 2896 1989 2187 2187 4095 0 0 0 0 0 0 26.42 26.36 26.46 9.41 31.33

2176 1.46 318.1 2896 1989 2184 4094 39.5 9.0 169 2192 0.25 3.88 3.47 0.468 10500 0.049 0.074 2928 3405 2149 2149 4094 0 0 0 0 0 0 26.48 25.96 25.32 9.41 31.57

2252 1.46 318.1 2928 3405 2147 4094 30.3 13.3 175 2267 0.00 3.65 0.00 0.000 1030 0.000 0.040 2929 1990 2146 2146 4095 0 0 0 0 0 0 26.42 26.36 26.45 9.40 31.25

2327 1.46 318.1 2928 1990 2145 4094 22.1 10.4 181 2341 0.00 3.90 0.00 0.000 516 0.000 0.086 2928 574 2145 2145 4095 0 0 0 0 0 0 26.72 26.28 26.74 9.41 31.37

2390 1.46 318.1 2928 574 2143 4094 15.3 10.8 186 2405 0.00 3.58 0.00 0.000 1030 0.000 0.037 2929 1990 2143 2143 4094 0 0 0 0 0 0 26.46 26.41 26.50 9.41 31.57

2466 1.53 351.9 2928 1991 2141 4094 8.2 9.1 192 2481 0.15 3.88 3.28 0.304 10500 0.060 0.076 2952 3406 2108 2108 4094 0 0 0 0 0 0 26.53 26.08 25.61 9.39 30.98

2657 end climb: NO_VERTICAL_VELOCITY

state 2657 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	11	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	10	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	25	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	240217,034701,4743.9839,-12224.2979,3,0.8,19,16.3,0.0,0.0,10,4.9	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161662,-0.188674
_SM_DEPTHo	1.43	KALMAN_X	276.943115,95.582947,742.053772,-311.569580,625.021973
_SM_ANGLEo	-64.1	KALMAN_Y	992.003906,314.960968,1355.222412,200.468170,1172.590332
GPS2	240217,035205,4743.9897,-12224.2930,5,0.8,23,16.3,0.0,0.0,9,4.8	MHEAD_RNG_PITCHd_Wd	204.3,2830,-12.3,-10.000,-21.92,3652
SPEED_LIMITS	0.173,0.248	D_GRID	173

SM_CCo	2659,88.57,0.641,0,0,50,2118.17	_24V_AH	23.70,3.551
SM_GC	0.81,28.58,3.75,0.00,0.027,0.035,0.000,243,1983,50,-6.98,0.82,2121.60,0,0,1,0,0,0,25.67,25.65,25.77	_10V_AH	9.58,3.798
IRIDIUM_FIX	4748.51,-12337.82,240217,025730	FG_AHR_24Vo	0.000
TT8_MAMPS	0.025466,0.229943	FG_AHR_10Vo	0.000
HUMID	30.82	MEM	322236
INTERNAL_PRESSURE	8.93945	DATA_FILE_SIZE	17780,208
TCM_TEMP	7.10	CAP_FILE_SIZE	59355,0
XPDR_PINGS	0	CFSIZE	1024409600,1017692160
ALTIM_TOP_PING	19.1,5.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
ALTIM_BOTTOM_PING	101.2,4.7	GPS	240217,044246,4743.835,-12224.527,23,1.0,68,16.3,0.0,0.0,8,3.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	61	136	197.35	SBE_CT	139	24	79.25
Roll_motor	144	155	531.74	AA4330	266	33	208.60
VBD_pump_during_apogee	45	2025	2174.83	nil	0	0	0.00
VBD_pump_during_surface	88	641	1345.75	SAT1000	1080	17	455.95
VBD_valve	0	0	0.00	SAT1001	1909	17	805.38
Iridium_during_init	22	103	54.40	nil	0	0	0.00
Iridium_during_connect	34	160	130.46	nil	0	0	0.00
Iridium_during_xfer	162	223	861.36	nil	0	0	0.00
Transponder_ping	0	420	7.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	50	11.77
TT8	598	19	113.52
LPSleep	90	2	1.90
TT8_Active	292	19	55.48
TT8_Sampling	2186	39	833.84
TT8_CF8	37	45	16.41
TT8_Kalman	33	81	26.22
Analog_circuits	868	12	99.88
GPS_charging	0	0	0.00
Compass	327	15	47.09
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	1992	1873	4094	0.0	0.0	0	33	0.00	0.00	-6.20	0.000	16390	0.000	0.000	242	1992	2811	2811	4095	0	0	0	0	0	0	26.45	25.63	26.46	9.34	32.39
35	-1.31	-244.4	242	1992	2811	4094	1.5	0.0	1	65	23.10	3.85	0.00	0.000	2564	0.136	0.066	2047	565	2814	2814	4094	0	0	0	0	0	0	25.78	25.78	25.86	9.53	31.92
113	-1.31	-244.4	2046	565	2816	4095	30.2	-27.6	7	128	0.00	3.67	0.00	0.000	1030	0.000	0.041	2047	1979	2817	2817	4094	0	0	0	0	0	0	26.00	25.94	26.03	9.54	31.57
188	-1.31	-244.4	2046	1979	2818	4094	40.3	-13.3	13	203	0.00	4.05	0.00	0.000	260	0.000	0.087	2047	3408	2819	2819	4094	0	0	0	0	0	0	26.36	25.92	26.38	9.54	31.41
229	-1.31	-244.4	2046	3409	2819	4095	45.8	-13.6	16	244	0.00	3.72	0.00	0.000	1030	0.000	0.041	2047	1985	2820	2820	4094	0	0	0	0	0	0	26.12	26.07	26.14	9.54	31.29
304	-1.31	-244.4	2046	1986	2822	4094	55.4	-12.7	22	318	0.00	3.92	0.00	0.000	516	0.000	0.084	2047	571	2822	2822	4094	0	0	0	0	0	0	26.46	26.03	26.48	9.54	31.72
355	-1.31	-244.4	2046	571	2823	4094	62.4	-13.8	26	370	0.00	3.65	0.00	0.000	1030	0.000	0.042	2047	1988	2823	2823	4094	0	0	0	0	0	0	26.21	26.15	26.25	9.54	31.29
430	-1.31	-244.4	2046	1988	2824	4095	72.1	-12.3	32	444	0.00	3.97	0.00	0.000	260	0.000	0.086	2047	3402	2825	2825	4094	0	0	0	0	0	0	26.55	26.09	26.55	9.54	31.21
469	-1.31	-244.4	2046	3402	2826	4094	77.5	-13.5	35	484	0.00	3.67	0.00	0.000	1030	0.000	0.041	2047	1989	2826	2826	4094	0	0	0	0	0	0	26.28	26.22	26.32	9.54	31.61
545	-1.31	-244.4	2046	1989	2827	4094	87.1	-13.1	41	560	0.00	3.90	0.00	0.000	516	0.000	0.083	2047	575	2828	2828	4095	0	0	0	0	0	0	26.60	26.16	26.61	9.54	31.76
597	-1.31	-244.4	2046	575	2829	4095	94.5	-14.0	45	611	0.00	3.62	0.00	0.000	1030	0.000	0.042	2047	1989	2830	2830	4094	0	0	0	0	0	0	26.33	26.30	26.36	9.54	31.49
674	-1.31	-244.4	2046	1989	2831	4094	104.6	-13.0	51	689	0.00	3.95	0.00	0.000	260	0.000	0.086	2047	3403	2832	2832	4094	0	0	0	0	0	0	26.65	26.20	26.66	9.54	31.02
726	-1.31	-244.4	2046	3403	2833	4095	111.3	-12.9	55	739	0.00	3.65	0.00	0.000	1030	0.000	0.041	2047	1992	2833	2833	4094	0	0	0	0	0	0	26.38	26.32	26.41	9.54	31.13
799	-1.31	-244.4	2046	1991	2835	4094	121.0	-13.4	61	814	0.00	3.90	0.00	0.000	516	0.000	0.084	2047	571	2835	2835	4095	0	0	0	0	0	0	26.69	26.24	26.70	9.54	31.33
840	-1.31	-244.4	2046	571	2837	4094	126.9	-14.5	64	855	0.00	3.62	0.00	0.000	1030	0.000	0.044	2047	1983	2837	2837	4095	0	0	0	0	0	0	26.39	26.32	26.46	9.54	31.17
915	-1.31	-244.4	2046	1984	2839	4094	137.1	-13.1	70	930	0.00	3.97	0.00	0.000	260	0.000	0.086	2047	3409	2840	2840	4094	0	0	0	0	0	0	26.72	26.25	26.73	9.54	31.53
956	-1.31	-244.4	2046	3409	2841	4094	142.5	-13.6	73	971	0.00	3.67	0.00	0.000	1030	0.000	0.041	2047	1987	2841	2841	4094	0	0	0	0	0	0	26.44	26.37	26.47	9.54	31.13
1019	end dive: TARGET_DEPTH_EXCEEDED
state	1019	begin apogee
1022	-0.33	0.0	2047	1986	2842	4094	151.1	-13.5	78	1050	3.45	0.00	17.52	2.026	10246	0.072	0.000	2362	1983	2519	2519	4094	0	0	0	0	0	0	26.39	25.21	24.18	9.54	30.94
1051	end apogee: CONTROL_FINISHED_OK
state	1051	begin climb
1052	1.31	244.4	2362	1983	2519	4094	154.3	0.0	80	1082	5.53	4.07	15.75	2.000	10500	0.045	0.073	2880	3412	2239	2239	4095	0	0	0	0	0	0	25.80	24.72	23.70	9.49	31.17
1131	1.33	254.6	2879	3412	2238	4095	149.4	9.7	86	1146	0.00	3.80	2.75	0.615	9222	0.000	0.041	2880	1991	2222	2222	4094	0	0	0	0	0	0	25.64	25.55	24.05	9.44	30.86
1206	1.33	254.6	2879	1991	2220	4094	141.8	10.1	92	1220	0.00	4.03	0.00	0.000	516	0.000	0.086	2880	569	2220	2220	4094	0	0	0	0	0	0	26.06	25.63	26.06	9.43	30.94
1257	1.33	254.6	2879	569	2219	4094	136.3	10.8	96	1272	0.00	3.67	0.00	0.000	1030	0.000	0.037	2880	1990	2219	2219	4094	0	0	0	0	0	0	25.90	25.85	25.93	9.43	31.61
1332	1.36	268.9	2879	1990	2218	4094	128.9	9.6	102	1348	0.10	3.95	2.53	0.431	10500	0.075	0.076	2896	3404	2206	2206	4094	0	0	0	0	0	0	26.06	25.46	24.46	9.43	31.45
1397	1.36	268.9	2896	3404	2205	4094	121.5	11.9	107	1411	0.00	3.70	0.00	0.000	1030	0.000	0.041	2896	1994	2204	2204	4095	0	0	0	0	0	0	26.05	25.99	26.08	9.42	30.98
1472	1.36	268.9	2896	1994	2202	4094	113.2	10.5	113	1486	0.00	3.97	0.00	0.000	516	0.000	0.086	2896	570	2201	2201	4094	0	0	0	0	0	0	26.40	25.96	26.41	9.43	30.86
1500	1.36	268.9	2896	570	2201	4094	110.1	10.9	115	1514	0.00	3.62	0.00	0.000	1030	0.000	0.038	2896	1985	2201	2201	4094	0	0	0	0	0	0	26.15	26.09	26.18	9.43	31.02
1575	1.36	268.9	2896	1985	2199	4094	101.7	10.9	121	1588	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	1985	2199	2199	4094	0	0	0	0	0	0	26.47	26.48	26.48	9.42	30.66
1649	1.36	268.9	2896	1985	2197	4094	94.1	10.2	127	1663	0.00	3.90	0.00	0.000	260	0.000	0.076	2897	3401	2197	2197	4094	0	0	0	0	0	0	26.52	26.10	26.53	9.42	31.68
1688	1.36	268.9	2896	3401	2196	4094	89.6	11.1	130	1703	0.00	3.67	0.00	0.000	1030	0.000	0.041	2896	1990	2195	2195	4094	0	0	0	0	0	0	26.26	26.20	26.29	9.42	31.72
1763	1.36	268.9	2896	1989	2195	4094	81.7	10.2	136	1777	0.00	3.92	0.00	0.000	516	0.000	0.087	2896	574	2194	2194	4094	0	0	0	0	0	0	26.58	26.15	26.59	9.42	31.09
1826	1.36	268.9	2896	574	2193	4094	74.9	11.1	141	1840	0.00	3.58	0.00	0.000	1030	0.000	0.037	2896	1984	2193	2193	4094	0	0	0	0	0	0	26.34	26.28	26.36	9.42	31.05
1900	1.36	268.9	2896	1985	2191	4094	67.1	10.1	147	1915	0.00	3.90	0.00	0.000	260	0.000	0.076	2897	3403	2191	2191	4094	0	0	0	0	0	0	26.63	26.20	26.65	9.42	31.09
1951	1.36	268.9	2896	3403	2189	4094	61.4	11.2	151	1966	0.00	3.65	0.00	0.000	1030	0.000	0.041	2896	1993	2190	2190	4094	0	0	0	0	0	0	26.36	26.30	26.40	9.42	31.45
2026	1.39	281.4	2896	1993	2188	4094	54.0	9.7	157	2041	0.00	3.92	0.00	0.000	516	0.000	0.086	2896	570	2188	2188	4094	0	0	0	0	0	0	26.67	26.23	26.69	9.42	31.76
2101	1.39	281.4	2896	570	2187	4094	46.5	10.2	163	2116	0.00	3.60	0.00	0.000	1030	0.000	0.038	2896	1989	2187	2187	4095	0	0	0	0	0	0	26.42	26.36	26.46	9.41	31.33
2176	1.46	318.1	2896	1989	2184	4094	39.5	9.0	169	2192	0.25	3.88	3.47	0.468	10500	0.049	0.074	2928	3405	2149	2149	4094	0	0	0	0	0	0	26.48	25.96	25.32	9.41	31.57
2252	1.46	318.1	2928	3405	2147	4094	30.3	13.3	175	2267	0.00	3.65	0.00	0.000	1030	0.000	0.040	2929	1990	2146	2146	4095	0	0	0	0	0	0	26.42	26.36	26.45	9.40	31.25
2327	1.46	318.1	2928	1990	2145	4094	22.1	10.4	181	2341	0.00	3.90	0.00	0.000	516	0.000	0.086	2928	574	2145	2145	4095	0	0	0	0	0	0	26.72	26.28	26.74	9.41	31.37
2390	1.46	318.1	2928	574	2143	4094	15.3	10.8	186	2405	0.00	3.58	0.00	0.000	1030	0.000	0.037	2929	1990	2143	2143	4094	0	0	0	0	0	0	26.46	26.41	26.50	9.41	31.57
2466	1.53	351.9	2928	1991	2141	4094	8.2	9.1	192	2481	0.15	3.88	3.28	0.304	10500	0.060	0.076	2952	3406	2108	2108	4094	0	0	0	0	0	0	26.53	26.08	25.61	9.39	30.98
2657	end climb: NO_VERTICAL_VELOCITY
state	2657	begin surface