Glider dive log

Shilshole 11Apr18 * SG401 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0

MISSION 23 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING 0 HEAD_ERRBAND 30 ALTIM_PING_DEPTH 90

N_DIVES 20 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 2

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 14

D_SURF 2 TGT_DEFAULT_LAT 5650 R_PORT_OVSHOOT 39 ALTIM_PULSE 6

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 9 ALTIM_SENSITIVITY 2

D_TGT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 XPDR_VALID 4

D_ABORT 200 SM_CC 350 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 4 ROLL_ADJ_GAIN 1 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT -1.1

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 250 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3765 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 1850 DEVICE1 -1

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.92339998 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 60 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 90 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 6 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 50945 W_ADJ_DBAND 0 COMPASS_DEVICE 97

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY -6 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 4 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 100 SIM_W 0

D_OFFGRID 100 PITCH_MIN 220 MINV_24V 19 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3693 MINV_10V 8 SEABIRD_T_G 0.0044153114

RELAUNCH 0 C_PITCH 3175 MAXI_24V 0.60000002 SEABIRD_T_H 0.00064861565

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.6621732e-05

MAX_BUOY 100 PITCH_CNV 0.00312576 FG_AHR_10V 0 SEABIRD_T_J 3.3947326e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.162049

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 15 PRESSURE_YINT -51.021927 SEABIRD_C_I -0.0032838252

RHO 1.0256 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 74692 PITCH_AD_RATE 70 AD7714Ch0Gain 1 SEABIRD_C_Z 2991.02

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0040000002 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 15

HD_B 0.012 ROLL_DEG 50 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 180 PITCH_CNV 0.00312576 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3693 STOP_T 0

ALTIM_FREQUENCY 14 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 2 FG_AHR_24V 0 PITCH_MIN 220 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 90 FILEMGR 0 PITCH_TIMEOUT 50 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 45 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 15 HD_A 0.0040000002 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PRESSURE_YINT -51.021927 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 5.7000002e-06 PROTOCOL 9 TGT_DEFAULT_LON -16401

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 10 HEAD_ERRBAND 30 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 60

CAPMAXSIZE 200000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 1 ID 401 RAFOS_HIT_WINDOW 3600 T_GPS 5

CF8_MAXERRORS 4 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_MMODEM 0 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 90

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.0256 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 T_TURN 225

C_PITCH 3175 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2600 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2600 MASS 74692 ROLL_DEG 50 UNCOM_BLEED 60

C_VBD 1850 MASS_COMP 0 ROLL_MAX 3888 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 USE_BATHY -6

DEEPGLIDER 2 MAXI_24V 0.60000002 ROLL_MIN 200 USE_ICE 0

DEVICE1 -1 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 39 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 9 VBD_DBAND 2

DEVICE4 -1 MISSION 23 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3765

DEVICE6 -1 NAV_MODE 0 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 13 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 250

D_ABORT 200 N_DIVES 20 SEABIRD_C_G -10.162049 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_FILEKB 4 SEABIRD_C_H 1.142972 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_GPS 50945 SEABIRD_C_I -0.0032838252 VBD_TIMEOUT 180

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00030784801 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2991.02 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_G 0.0044153114 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064861565 XPDR_VALID 4

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6621732e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.3947326e-06

Pre-dive calculations and measurements:

GPS1 120418,074230,4743.6602,-12224.4316,9,0.9,15,16.3,0.3,0.0,9,5.0 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.92 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -69.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120418,075906,4743.6030,-12224.5098,7,0.9,17,16.3,0.2,0.0,9,4.8 MHEAD_RNG_PITCHd_Wd 173.7,2075,-24.1,-10.000,-26.74,1498

SPEED_LIMITS 0.100,0.198 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.1,0.999823 _24V_AH 23.96,0.995

SM_CCo 2841,5.40,0.536,0,0,1467,350.89 _10V_AH 10.11,2.489

SM_GC 4.43,35.33,0.15,5.40,0.031,0.112,0.536,240,2609,1467,-9.16,-0.50,350.89,0,0,0,0,0,0,26.55,26.48,25.76 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,120418,064137 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047936,0.850864 MEM 312972

HUMID 43.42 DATA_FILE_SIZE 7039,268

INTERNAL_PRESSURE 8.38279 CAP_FILE_SIZE 93659,0

TCM_TEMP 7.70 CFSIZE 1023623168,1020051456

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

ALTIM_TOP_PING 14.2,999.0 GPS 120418,084840,4743.009,-12224.644,72,0.9,87,16.3,0.0,0.0,9,4.6

SC_FREEKB 3905760

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 76 136 250.08 nil 0 0 0.00

Roll_motor 50 111 133.94 nil 0 0 0.00

VBD_pump_during_apogee 31 2102 1577.81 nil 0 0 0.00

VBD_pump_during_surface 5 536 69.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 70 103 174.60 nil 0 0 0.00

Iridium_during_connect 52 160 201.85 SciCon 2834 72 4899.38

Iridium_during_xfer 649 223 3472.66 nil 0 0 0.00

Transponder_ping 137 420 1378.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.35

TT8 0 0 0.00

LPSleep 1189 2 26.34

TT8_Active 198 19 39.80

TT8_Sampling 2400 39 965.72

TT8_CF8 62 45 28.81

TT8_Kalman 0 0 0.00

Analog_circuits 594 12 72.12

GPS_charging 0 0 0.00

Compass 391 5 19.78

RAFOS 0 0 0.00

Transponder 1542 30 467.90

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

5 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7 -1.75 -97.5 240 2606 1465 3406 0.0 0.0 0 11 0.00 0.00 -2.85 0.000 16390 0.000 0.000 239 2605 1958 1958 4094 0 0 0 0 0 0 26.25 25.08 26.24 8.47 44.52

12 -1.75 -97.5 239 2605 1966 4094 0.0 0.0 0 47 29.67 2.78 0.00 0.000 2820 0.136 0.035 2602 1523 1967 1967 4093 0 0 0 0 0 0 25.84 25.94 26.00 8.57 44.92

272 -1.75 -97.5 2602 1524 1977 4093 55.3 -19.0 44 280 0.00 2.88 0.00 0.000 1030 0.000 0.060 2602 2600 1978 1978 4089 0 0 0 0 0 0 26.28 26.22 26.29 8.57 44.72

338 -1.75 -97.5 2601 2600 1981 4089 67.4 -18.3 51 339 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2600 1980 1980 4094 0 0 0 0 0 0 26.60 26.63 26.62 8.58 43.97

448 -1.75 -97.5 2602 2600 1984 4094 84.1 -17.8 57 469 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2599 1985 1985 4094 0 0 0 0 0 0 26.58 26.60 26.60 8.57 44.48

590 -1.75 -97.5 2602 2599 1990 4094 109.6 -17.4 64 614 0.00 2.72 0.00 0.000 516 0.000 0.038 2602 1526 1991 1991 4094 0 0 0 0 0 0 26.55 26.31 26.57 8.58 44.13

776 -1.75 -97.5 2601 1525 1999 4094 141.1 -17.1 73 800 0.00 2.83 0.00 0.000 1030 0.000 0.059 2602 2597 1999 1999 4094 0 0 0 0 0 0 26.40 26.29 26.44 8.58 44.01

920 -1.75 -97.5 2600 2598 2005 4094 165.4 -17.5 80 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2597 2004 2004 4094 0 0 0 0 0 0 26.55 26.58 26.58 8.58 43.62

983 end dive: TARGET_DEPTH_EXCEEDED

state 983 begin apogee

986 -0.33 0.0 2601 2602 2008 4095 177.5 -18.8 83 1002 5.15 0.00 9.18 2.102 10244 0.093 0.000 3064 2601 1849 1849 4094 0 0 0 0 0 0 26.32 25.76 24.22 8.59 43.69

1003 end apogee: CONTROL_FINISHED_OK

state 1003 begin climb

1004 1.75 97.5 3057 2598 1851 4094 183.2 0.0 86 1024 6.50 2.75 6.85 1.910 10756 0.047 0.041 3682 1531 1751 1751 4095 0 0 0 0 0 0 25.97 25.89 23.96 8.57 43.73

1094 1.82 143.4 3676 1528 1744 4095 177.0 6.9 101 1107 0.00 2.88 4.25 1.389 11270 0.000 0.053 3673 2601 1694 1694 4094 0 0 0 0 0 0 25.94 25.87 24.12 8.55 43.93

1166 1.86 170.7 3676 2602 1693 4094 171.7 8.1 109 1170 0.00 0.00 3.25 0.999 10246 0.000 0.000 3676 2599 1664 1664 4094 0 0 0 0 0 0 26.24 25.73 24.25 8.53 43.14

1226 1.87 175.9 3677 2602 1663 4094 166.0 9.6 115 1228 0.00 0.00 1.27 0.003 10246 0.000 0.000 3676 2602 1663 1663 4094 0 0 0 0 0 0 26.29 26.27 26.27 8.53 43.34

1285 1.87 175.9 3674 2602 1662 4094 159.9 10.3 121 1286 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2602 1662 1662 4094 0 0 0 0 0 0 26.39 26.40 26.40 8.53 43.50

1346 1.90 195.2 3677 2602 1661 4094 154.5 8.7 127 1354 0.00 3.03 2.88 0.744 10500 0.000 0.087 3676 3699 1634 1634 4094 0 0 0 0 0 0 26.48 25.67 24.53 8.52 44.32

1382 1.90 195.2 3676 3699 1641 4094 149.9 13.7 133 1390 0.00 2.67 0.00 0.000 3078 0.000 0.033 3677 2608 1639 1639 4094 0 0 0 0 0 0 26.27 26.25 26.28 8.52 44.05

1448 1.90 195.2 3676 2609 1639 4094 140.9 13.9 140 1449 0.00 0.00 0.00 0.000 2054 0.000 0.000 3676 2609 1637 1637 4094 0 0 0 0 0 0 26.53 26.54 26.54 8.52 43.81

1508 1.90 195.2 3677 2609 1635 4094 132.6 13.5 146 1516 0.00 2.78 0.00 0.000 2564 0.000 0.041 3682 1532 1635 1635 4094 0 0 0 0 0 0 26.59 26.29 26.60 8.52 43.93

1604 1.90 195.2 3677 1533 1632 4094 121.4 11.7 162 1612 0.00 2.85 0.00 0.000 3078 0.000 0.054 3676 2615 1635 1635 4091 0 0 0 0 0 0 26.38 26.33 26.43 8.52 44.25

1670 1.90 195.2 3677 2615 1630 4091 113.3 12.3 169 1671 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2614 1630 1630 4094 0 0 0 0 0 0 26.70 26.70 26.70 8.49 44.44

1730 1.90 195.2 3676 2614 1630 4094 106.1 12.0 175 1738 0.00 2.95 0.00 0.000 2308 0.000 0.088 3677 3681 1628 1628 4095 0 0 0 0 0 0 26.72 26.36 26.74 8.52 44.52

1754 1.90 195.2 3676 3685 1629 4095 102.6 14.5 179 1762 0.00 2.65 0.00 0.000 3078 0.000 0.033 3677 2591 1627 1627 4095 0 0 0 0 0 0 26.55 26.53 26.59 8.50 44.32

1820 1.90 195.2 3676 2594 1627 4095 94.6 11.6 186 1828 0.00 2.70 0.00 0.000 2564 0.000 0.041 3677 1538 1625 1625 4093 0 0 0 0 0 0 26.77 26.44 26.77 8.51 44.44

1898 1.90 195.2 3677 1538 1623 4093 86.4 10.0 199 1906 0.00 2.75 0.00 0.000 3078 0.000 0.052 3677 2583 1620 1620 4094 0 0 0 0 0 0 26.57 26.46 26.61 8.51 44.88

1964 1.90 195.2 3676 2587 1623 4094 79.4 10.7 206 1965 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2583 1622 1622 4094 0 0 0 0 0 0 26.82 26.83 26.83 8.51 44.52

2024 1.90 195.2 3678 2584 1621 4094 72.7 11.4 212 2025 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2583 1621 1621 4095 0 0 0 0 0 0 26.84 26.85 26.84 8.51 44.52

2084 1.90 195.2 3677 2583 1620 4095 66.0 11.1 218 2085 0.00 0.00 0.00 0.000 2054 0.000 0.000 3681 2583 1619 1619 4095 0 0 0 0 0 0 26.85 26.87 26.86 8.51 44.99

2160 1.90 195.2 3678 2584 1616 4095 59.6 10.5 224 2181 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2583 1619 1619 4094 0 0 0 0 0 0 26.84 26.84 26.84 8.50 45.27

2293 1.90 195.2 3677 2583 1613 4094 45.5 10.7 231 2315 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2584 1607 1607 4094 0 0 0 0 0 0 26.77 26.79 26.78 8.50 44.84

2427 1.90 197.7 3677 2584 1609 4094 32.3 9.8 238 2449 0.00 2.65 0.00 0.000 2564 0.000 0.041 3677 1536 1610 1610 4094 0 0 0 0 0 0 26.76 26.48 26.78 8.50 44.40

2506 1.91 202.2 3678 1534 1608 4094 24.7 9.7 242 2528 0.00 2.72 0.00 0.000 3078 0.000 0.054 3677 2587 1607 1607 4095 0 0 0 0 0 0 26.57 26.44 26.60 8.50 44.25

2642 1.92 213.1 3677 2587 1605 4095 12.4 9.3 249 2663 0.00 2.67 0.00 0.000 2564 0.000 0.041 3677 1534 1604 1604 4094 0 0 0 0 0 0 26.71 26.44 26.72 8.51 44.09

2715 2.01 269.0 3677 1534 1599 4094 5.6 6.2 259 2724 0.00 2.65 3.65 0.415 11270 0.000 0.051 3676 2546 1557 1557 4094 0 0 0 0 0 0 26.51 26.42 25.75 8.50 43.85

2780 end climb: SURFACE_DEPTH_REACHED

state 2780 begin surface coast

2800 end surface coast: CONTROL_FINISHED_OK

state 2800 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0
MISSION	23	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING	0	HEAD_ERRBAND	30	ALTIM_PING_DEPTH	90
N_DIVES	20	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	2
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	14
D_SURF	2	TGT_DEFAULT_LAT	5650	R_PORT_OVSHOOT	39	ALTIM_PULSE	6
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	9	ALTIM_SENSITIVITY	2
D_TGT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	XPDR_VALID	4
D_ABORT	200	SM_CC	350	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	4	ROLL_ADJ_GAIN	1	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	-1.1
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	250	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3765	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	1850	DEVICE1	-1
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.92339998	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	60	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	90	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	6	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	50945	W_ADJ_DBAND	0	COMPASS_DEVICE	97
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	-6	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	4	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	100	SIM_W	0
D_OFFGRID	100	PITCH_MIN	220	MINV_24V	19	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3693	MINV_10V	8	SEABIRD_T_G	0.0044153114
RELAUNCH	0	C_PITCH	3175	MAXI_24V	0.60000002	SEABIRD_T_H	0.00064861565
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.6621732e-05
MAX_BUOY	100	PITCH_CNV	0.00312576	FG_AHR_10V	0	SEABIRD_T_J	3.3947326e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.162049
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	15	PRESSURE_YINT	-51.021927	SEABIRD_C_I	-0.0032838252
RHO	1.0256	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	74692	PITCH_AD_RATE	70	AD7714Ch0Gain	1	SEABIRD_C_Z	2991.02
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	50	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	120418,074230,4743.6602,-12224.4316,9,0.9,15,16.3,0.3,0.0,9,5.0	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.92	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-69.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120418,075906,4743.6030,-12224.5098,7,0.9,17,16.3,0.2,0.0,9,4.8	MHEAD_RNG_PITCHd_Wd	173.7,2075,-24.1,-10.000,-26.74,1498
SPEED_LIMITS	0.100,0.198	D_GRID	174

FINISH	0.1,0.999823	_24V_AH	23.96,0.995
SM_CCo	2841,5.40,0.536,0,0,1467,350.89	_10V_AH	10.11,2.489
SM_GC	4.43,35.33,0.15,5.40,0.031,0.112,0.536,240,2609,1467,-9.16,-0.50,350.89,0,0,0,0,0,0,26.55,26.48,25.76	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,120418,064137	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047936,0.850864	MEM	312972
HUMID	43.42	DATA_FILE_SIZE	7039,268
INTERNAL_PRESSURE	8.38279	CAP_FILE_SIZE	93659,0
TCM_TEMP	7.70	CFSIZE	1023623168,1020051456
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	14.2,999.0	GPS	120418,084840,4743.009,-12224.644,72,0.9,87,16.3,0.0,0.0,9,4.6
SC_FREEKB	3905760

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	76	136	250.08	nil	0	0	0.00
Roll_motor	50	111	133.94	nil	0	0	0.00
VBD_pump_during_apogee	31	2102	1577.81	nil	0	0	0.00
VBD_pump_during_surface	5	536	69.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	70	103	174.60	nil	0	0	0.00
Iridium_during_connect	52	160	201.85	SciCon	2834	72	4899.38
Iridium_during_xfer	649	223	3472.66	nil	0	0	0.00
Transponder_ping	137	420	1378.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.35
TT8	0	0	0.00
LPSleep	1189	2	26.34
TT8_Active	198	19	39.80
TT8_Sampling	2400	39	965.72
TT8_CF8	62	45	28.81
TT8_Kalman	0	0	0.00
Analog_circuits	594	12	72.12
GPS_charging	0	0	0.00
Compass	391	5	19.78
RAFOS	0	0	0.00
Transponder	1542	30	467.90

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
5	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7	-1.75	-97.5	240	2606	1465	3406	0.0	0.0	0	11	0.00	0.00	-2.85	0.000	16390	0.000	0.000	239	2605	1958	1958	4094	0	0	0	0	0	0	26.25	25.08	26.24	8.47	44.52
12	-1.75	-97.5	239	2605	1966	4094	0.0	0.0	0	47	29.67	2.78	0.00	0.000	2820	0.136	0.035	2602	1523	1967	1967	4093	0	0	0	0	0	0	25.84	25.94	26.00	8.57	44.92
272	-1.75	-97.5	2602	1524	1977	4093	55.3	-19.0	44	280	0.00	2.88	0.00	0.000	1030	0.000	0.060	2602	2600	1978	1978	4089	0	0	0	0	0	0	26.28	26.22	26.29	8.57	44.72
338	-1.75	-97.5	2601	2600	1981	4089	67.4	-18.3	51	339	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2600	1980	1980	4094	0	0	0	0	0	0	26.60	26.63	26.62	8.58	43.97
448	-1.75	-97.5	2602	2600	1984	4094	84.1	-17.8	57	469	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2599	1985	1985	4094	0	0	0	0	0	0	26.58	26.60	26.60	8.57	44.48
590	-1.75	-97.5	2602	2599	1990	4094	109.6	-17.4	64	614	0.00	2.72	0.00	0.000	516	0.000	0.038	2602	1526	1991	1991	4094	0	0	0	0	0	0	26.55	26.31	26.57	8.58	44.13
776	-1.75	-97.5	2601	1525	1999	4094	141.1	-17.1	73	800	0.00	2.83	0.00	0.000	1030	0.000	0.059	2602	2597	1999	1999	4094	0	0	0	0	0	0	26.40	26.29	26.44	8.58	44.01
920	-1.75	-97.5	2600	2598	2005	4094	165.4	-17.5	80	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2597	2004	2004	4094	0	0	0	0	0	0	26.55	26.58	26.58	8.58	43.62
983	end dive: TARGET_DEPTH_EXCEEDED
state	983	begin apogee
986	-0.33	0.0	2601	2602	2008	4095	177.5	-18.8	83	1002	5.15	0.00	9.18	2.102	10244	0.093	0.000	3064	2601	1849	1849	4094	0	0	0	0	0	0	26.32	25.76	24.22	8.59	43.69
1003	end apogee: CONTROL_FINISHED_OK
state	1003	begin climb
1004	1.75	97.5	3057	2598	1851	4094	183.2	0.0	86	1024	6.50	2.75	6.85	1.910	10756	0.047	0.041	3682	1531	1751	1751	4095	0	0	0	0	0	0	25.97	25.89	23.96	8.57	43.73
1094	1.82	143.4	3676	1528	1744	4095	177.0	6.9	101	1107	0.00	2.88	4.25	1.389	11270	0.000	0.053	3673	2601	1694	1694	4094	0	0	0	0	0	0	25.94	25.87	24.12	8.55	43.93
1166	1.86	170.7	3676	2602	1693	4094	171.7	8.1	109	1170	0.00	0.00	3.25	0.999	10246	0.000	0.000	3676	2599	1664	1664	4094	0	0	0	0	0	0	26.24	25.73	24.25	8.53	43.14
1226	1.87	175.9	3677	2602	1663	4094	166.0	9.6	115	1228	0.00	0.00	1.27	0.003	10246	0.000	0.000	3676	2602	1663	1663	4094	0	0	0	0	0	0	26.29	26.27	26.27	8.53	43.34
1285	1.87	175.9	3674	2602	1662	4094	159.9	10.3	121	1286	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2602	1662	1662	4094	0	0	0	0	0	0	26.39	26.40	26.40	8.53	43.50
1346	1.90	195.2	3677	2602	1661	4094	154.5	8.7	127	1354	0.00	3.03	2.88	0.744	10500	0.000	0.087	3676	3699	1634	1634	4094	0	0	0	0	0	0	26.48	25.67	24.53	8.52	44.32
1382	1.90	195.2	3676	3699	1641	4094	149.9	13.7	133	1390	0.00	2.67	0.00	0.000	3078	0.000	0.033	3677	2608	1639	1639	4094	0	0	0	0	0	0	26.27	26.25	26.28	8.52	44.05
1448	1.90	195.2	3676	2609	1639	4094	140.9	13.9	140	1449	0.00	0.00	0.00	0.000	2054	0.000	0.000	3676	2609	1637	1637	4094	0	0	0	0	0	0	26.53	26.54	26.54	8.52	43.81
1508	1.90	195.2	3677	2609	1635	4094	132.6	13.5	146	1516	0.00	2.78	0.00	0.000	2564	0.000	0.041	3682	1532	1635	1635	4094	0	0	0	0	0	0	26.59	26.29	26.60	8.52	43.93
1604	1.90	195.2	3677	1533	1632	4094	121.4	11.7	162	1612	0.00	2.85	0.00	0.000	3078	0.000	0.054	3676	2615	1635	1635	4091	0	0	0	0	0	0	26.38	26.33	26.43	8.52	44.25
1670	1.90	195.2	3677	2615	1630	4091	113.3	12.3	169	1671	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2614	1630	1630	4094	0	0	0	0	0	0	26.70	26.70	26.70	8.49	44.44
1730	1.90	195.2	3676	2614	1630	4094	106.1	12.0	175	1738	0.00	2.95	0.00	0.000	2308	0.000	0.088	3677	3681	1628	1628	4095	0	0	0	0	0	0	26.72	26.36	26.74	8.52	44.52
1754	1.90	195.2	3676	3685	1629	4095	102.6	14.5	179	1762	0.00	2.65	0.00	0.000	3078	0.000	0.033	3677	2591	1627	1627	4095	0	0	0	0	0	0	26.55	26.53	26.59	8.50	44.32
1820	1.90	195.2	3676	2594	1627	4095	94.6	11.6	186	1828	0.00	2.70	0.00	0.000	2564	0.000	0.041	3677	1538	1625	1625	4093	0	0	0	0	0	0	26.77	26.44	26.77	8.51	44.44
1898	1.90	195.2	3677	1538	1623	4093	86.4	10.0	199	1906	0.00	2.75	0.00	0.000	3078	0.000	0.052	3677	2583	1620	1620	4094	0	0	0	0	0	0	26.57	26.46	26.61	8.51	44.88
1964	1.90	195.2	3676	2587	1623	4094	79.4	10.7	206	1965	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2583	1622	1622	4094	0	0	0	0	0	0	26.82	26.83	26.83	8.51	44.52
2024	1.90	195.2	3678	2584	1621	4094	72.7	11.4	212	2025	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2583	1621	1621	4095	0	0	0	0	0	0	26.84	26.85	26.84	8.51	44.52
2084	1.90	195.2	3677	2583	1620	4095	66.0	11.1	218	2085	0.00	0.00	0.00	0.000	2054	0.000	0.000	3681	2583	1619	1619	4095	0	0	0	0	0	0	26.85	26.87	26.86	8.51	44.99
2160	1.90	195.2	3678	2584	1616	4095	59.6	10.5	224	2181	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2583	1619	1619	4094	0	0	0	0	0	0	26.84	26.84	26.84	8.50	45.27
2293	1.90	195.2	3677	2583	1613	4094	45.5	10.7	231	2315	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2584	1607	1607	4094	0	0	0	0	0	0	26.77	26.79	26.78	8.50	44.84
2427	1.90	197.7	3677	2584	1609	4094	32.3	9.8	238	2449	0.00	2.65	0.00	0.000	2564	0.000	0.041	3677	1536	1610	1610	4094	0	0	0	0	0	0	26.76	26.48	26.78	8.50	44.40
2506	1.91	202.2	3678	1534	1608	4094	24.7	9.7	242	2528	0.00	2.72	0.00	0.000	3078	0.000	0.054	3677	2587	1607	1607	4095	0	0	0	0	0	0	26.57	26.44	26.60	8.50	44.25
2642	1.92	213.1	3677	2587	1605	4095	12.4	9.3	249	2663	0.00	2.67	0.00	0.000	2564	0.000	0.041	3677	1534	1604	1604	4094	0	0	0	0	0	0	26.71	26.44	26.72	8.51	44.09
2715	2.01	269.0	3677	1534	1599	4094	5.6	6.2	259	2724	0.00	2.65	3.65	0.415	11270	0.000	0.051	3676	2546	1557	1557	4094	0	0	0	0	0	0	26.51	26.42	25.75	8.50	43.85
2780	end climb: SURFACE_DEPTH_REACHED
state	2780	begin surface coast
2800	end surface coast: CONTROL_FINISHED_OK
state	2800	begin surface