Glider dive log

POSYDON Mar17 * SG178 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 28 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 1

DIVE 14 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 105 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LAT 47.700001 R_STBD_OVSHOOT 62 XPDR_VALID 6

STOP_T 0 TGT_DEFAULT_LON -122.4 ROLL_AD_RATE 350 XPDR_INHIBIT 99

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_TGT 360 N_FILEKB 8 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_ABORT 1020 FILEMGR 0 VBD_MIN 425 MOTHERBOARD 4

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 3 COMM_SEQ 0 C_VBD 3197 DEVICE2 -1

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00038000001 LOGGERS 3

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 100 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE4 -1

T_MISSION 160 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_ABORT 1440 T_GPS 15 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN 225 N_GPS 100740 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 1 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_LOITER 1800 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 148 SIM_W 0

USE_BATHY -5 RAFOS_HIT_WINDOW 3600 AH0_10V 95 SIM_PITCH 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 22 SEABIRD_T_G 0.0043966938

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 165 MINV_10V 9.5 SEABIRD_T_H 0.00063700025

D_OFFGRID 1020 PITCH_MAX 3954 MAXI_24V 0.60000002 SEABIRD_T_I 2.5067597e-05

T_WATCHDOG 10 C_PITCH 2040 MAXI_10V 0.80000001 SEABIRD_T_J 2.9826379e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.7293062

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1206031

MAX_BUOY 250 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I 0.00047059715

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PRESSURE_YINT -43.355331 SEABIRD_C_J 5.505409e-05

GLIDE_SLOPE 30 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001161899 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 128 SC_PROFILE 7.0

RHO 1.0275 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 51842 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 226 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3782 ALTIM_BOTTOM_TURN_MARGIN 0 PM_NDIVE 1.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.010078 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 9.8500004e-06 C_ROLL_CLIMB 2100 ALTIM_PING_DEPTH 0 PM_SENDDEPTH 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_TGT 360 PITCH_DBAND 0.1 SEABIRD_T_H 0.00063700025

AH0_10V 95 ESCAPE_HEADING 0 PITCH_GAIN 27 SEABIRD_T_I 2.5067597e-05

AH0_24V 148 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3954 SEABIRD_T_J 2.9826379e-06

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MIN 165 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 20 SM_CC 450

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00038000001 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 STOP_T 0

ALTIM_PULSE 1 GLIDE_SLOPE 30 PITCH_W_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 5 GPS_DEVICE 32 PM_MOTORS 1.0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.0038360001 PM_NDIVE 1.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.010078 PM_PROFILE 7.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 9.8500004e-06 PM_RECORDABOVE 2000.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LAT 47.700001

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001161899 TGT_DEFAULT_LON -122.4

CAPMAXSIZE 100000 ID 178 PRESSURE_YINT -43.355331 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_BOOST 0

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0 P_OVSHOOT 0.039999999 T_DIVE 100

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_EPIRB 0

COMPASS2_DEVICE -1 LOGGERDEVICE1 51 RAFOS_CORR_THRESH 60 T_GPS 15

COMPASS_DEVICE 33 LOGGERDEVICE2 85 RAFOS_DEVICE -1 T_LOITER 1800

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 160

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_NO_W 120

C_PITCH 2040 LOGGERS 3 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

C_ROLL_CLIMB 2100 MASS 51842 RELAUNCH 1 T_TURN 225

C_ROLL_DIVE 2500 MASS_COMP 0 RHO 1.0275 T_TURN_SAMPINT -5

C_VBD 3197 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 MAX_BUOY 250 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 USE_BATHY -5

DEVICE2 -1 MINV_24V 22 ROLL_DEG 40 USE_ICE 0

DEVICE3 -1 MISSION 28 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 226 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DIVE 14 N_DIVES 0 R_PORT_OVSHOOT 105 VBD_MAX 3960

D_ABORT 1020 N_FILEKB 8 R_STBD_OVSHOOT 62 VBD_MAXERRORS 1

D_BOOST 3 N_GPS 100740 SC_NDIVE 1.0 VBD_MIN 425

D_CALL 0 N_NOCOMM 2 SC_PROFILE 7.0 VBD_PUMP_AD_RATE_APOGEE 4

D_FINISH 0 N_NOSURFACE 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FLARE 3 PHONE_DEVICE 49 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_C_G -9.7293062 W_ADJ_DBAND 0

D_OFFGRID 1020 PITCH_ADJ_DBAND 0 SEABIRD_C_H 1.1206031 XPDR_DEVICE 24

D_PITCH 0 PITCH_ADJ_GAIN 0 SEABIRD_C_I 0.00047059715 XPDR_INHIBIT 99

D_SAFE 0 PITCH_AD_RATE 145 SEABIRD_C_J 5.505409e-05 XPDR_VALID 6

D_SURF 3 PITCH_CNV 0.003125763 SEABIRD_T_G 0.0043966938

Pre-dive calculations and measurements:

GPS1 180317,155557,2909.8811,-7606.5791,12,1.1,40,-9.0,0.6,74.7,8,4.4 SPEED_LIMITS 0.208,0.347

_CALLS 1 TGT_NAME WS

_XMS_NAKs 0 TGT_LATLONG 2906.500,-7615.500

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.37 MHEAD_RNG_PITCHd_Wd 254.3,16007,-16.4,-12.000,-19.05,3103

_SM_ANGLEo -60.5 D_GRID 5022

GPS2 180317,160320,2909.9602,-7606.4346,12,1.3,39,-9.0,0.7,57.3,7,4.5

Post-dive calculations and measurements:

FINISH 1.5,1.012556 _24V_AH 25.25,11.457

SM_CCo 7355,0.45,0.075,0,0,1360,450.13 _10V_AH 10.35,7.277

SM_GC 2.73,5.35,0.55,0.45,0.026,0.031,0.075,140,2516,1360,-5.82,-1.50,450.13,0,0,0,0,0,0,27.12,27.13,27.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2855.60,-7608.00,180317,134238 FG_AHR_10Vo 0.000

TT8_MAMPS 0.050932,0.317576 MEM 153000

HUMID 37.08 DATA_FILE_SIZE 20100,599

INTERNAL_PRESSURE 9.57068 CAP_FILE_SIZE 76108,0

TCM_TEMP 24.00 CFSIZE 260034560,254922752

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

SC_FREEKB 7891328 CURRENT 0.477,80.45,1

PM_FREEKB 61937088 GPS 180317,180726,2910.037,-7605.737,8,1.2,41,-9.0,0.9,52.3,9,4.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 244 85.46 nil 0 0 0.00

Roll_motor 48 1250 1537.90 nil 0 0 0.00

VBD_pump_during_apogee 523 803 10623.74 nil 0 0 0.00

VBD_pump_during_surface 0 74 0.85 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 7330 7 1372.76

Iridium_during_xfer 277 91 637.99 PMAR 7334 14 2687.01

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 30 13.24

TT8 0 0 0.00

LPSleep 5435 2 123.20

TT8_Active 618 16 103.40

TT8_Sampling 1585 46 756.95

TT8_CF8 161 54 90.95

TT8_Kalman 0 0 0.00

Analog_circuits 1473 15 233.34

GPS_charging 0 0 0.00

Compass 864 0 6.71

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.70 -243.3 141 2513 1425 1286 0.0 0.0 0 92 0.00 0.00 -75.60 0.000 16386 0.000 0.000 140 2512 3093 3144 3043 0 0 0 0 0 0 27.23 28.83 27.30

94 -0.70 -243.3 141 2510 3145 3043 3.3 -1.7 13 133 6.90 2.12 -22.55 0.000 18980 0.245 1.250 1807 1138 3964 4030 3899 0 0 0 0 0 0 26.74 25.90 27.00

214 -0.70 -243.3 1807 1139 4028 3899 20.1 -14.4 35 221 0.00 2.00 0.00 0.000 1030 0.000 0.028 1800 2483 3962 4026 3899 0 0 0 0 0 0 27.07 27.01 27.09

401 -0.70 -243.3 1800 2483 4028 3906 50.2 -16.1 72 404 0.00 0.00 0.00 0.000 6 0.000 0.000 1800 2483 3963 4027 3899 0 0 0 0 0 0 27.37 27.43 27.43

702 -0.70 -243.3 1800 2484 4027 3899 100.1 -15.8 102 709 0.00 1.98 0.00 0.000 516 0.000 0.023 1800 1129 3966 4033 3899 0 0 0 0 0 0 27.49 27.28 27.57

754 -0.70 -243.3 1800 1130 4028 3904 108.6 -16.1 112 760 0.00 2.03 0.00 0.000 1030 0.000 0.028 1790 2503 3961 4023 3900 0 0 0 0 0 0 27.32 27.27 27.36

1065 -0.70 -243.3 1791 2505 4028 3899 159.0 -15.0 144 1071 0.00 1.92 0.00 0.000 260 0.000 0.047 1781 3774 3963 4026 3900 0 0 0 0 0 0 27.56 27.29 27.62

1111 -0.70 -243.3 1781 3774 4028 3901 165.8 -14.4 153 1120 0.12 1.75 0.00 0.000 3078 0.151 0.021 1814 2489 3962 4026 3899 0 0 0 0 0 0 27.20 27.43 27.35

1426 -0.70 -243.3 1812 2490 4028 3900 203.6 -11.8 183 1433 0.00 1.90 0.00 0.000 548 0.000 0.023 1814 1149 3963 4027 3900 0 0 0 0 0 0 27.60 27.39 27.66

1472 -0.70 -243.3 1814 1150 4028 3899 209.3 -11.1 192 1479 0.00 1.98 0.00 0.000 1062 0.000 0.026 1806 2506 3963 4027 3900 0 0 0 0 0 0 27.43 27.38 27.46

1789 -0.70 -243.3 1807 2507 4027 3900 248.8 -12.1 205 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2506 3962 4027 3898 0 0 0 0 0 0 27.62 27.70 27.68

2089 -0.70 -243.3 1805 2506 4027 3901 283.5 -11.6 215 2096 0.00 1.95 0.00 0.000 548 0.000 0.022 1809 1144 3963 4027 3899 0 0 0 0 0 0 27.64 27.46 27.70

2115 -0.70 -243.3 1807 1145 4028 3900 286.5 -12.0 220 2123 0.00 2.00 0.00 0.000 1030 0.000 0.027 1799 2504 3963 4026 3900 0 0 0 0 0 0 27.48 27.41 27.49

2421 -0.70 -243.3 1799 2505 4029 3900 321.4 -10.9 231 2424 0.00 0.00 0.00 0.000 38 0.000 0.000 1799 2504 3963 4027 3900 0 0 0 0 0 0 27.67 27.72 27.71

2721 -0.70 -243.3 1799 2504 4027 3901 354.6 -10.8 241 2728 0.00 1.95 0.00 0.000 548 0.000 0.023 1802 1142 3963 4026 3900 0 0 0 0 0 0 27.65 27.46 27.72

2758 -0.70 -243.3 1797 1143 4027 3901 358.6 -10.7 248 2764 0.00 2.00 0.00 0.000 1062 0.000 0.028 1790 2505 3962 4026 3899 0 0 0 0 0 0 27.48 27.41 27.51

2772 end dive: TARGET_DEPTH_EXCEEDED

state 2772 begin apogee

2776 -0.19 0.0 1789 2098 4026 3900 360.3 -10.0 251 2930 0.57 0.00 149.23 0.783 10246 0.109 0.000 1982 2093 3197 3260 3135 0 0 0 0 0 0 27.29 25.90 25.38

2933 end apogee: CONTROL_FINISHED_OK

state 2933 begin loiter

3224 -0.10 215.2 1983 2093 3259 3135 388.2 -7.1 266 3407 0.00 0.00 180.10 0.803 8230 0.000 0.000 1983 2093 2319 2397 2242 0 0 0 0 0 0 27.17 25.78 25.25

3704 -0.10 215.2 1982 2094 2394 2235 375.8 5.2 282 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2093 2314 2394 2235 0 0 0 0 0 0 27.16 27.23 27.24

4004 -0.10 215.2 1983 2094 2394 2234 357.3 6.4 292 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2093 2314 2394 2235 0 0 0 0 0 0 27.37 27.43 27.43

4303 -0.10 215.2 1983 2093 2393 2235 338.3 6.3 302 4307 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2093 2314 2394 2235 0 0 0 0 0 0 27.48 27.54 27.54

4603 -0.10 215.2 1983 2093 2394 2235 321.9 5.3 312 4607 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 2098 2313 2394 2233 0 0 0 0 0 0 27.53 27.60 27.60

4722 end loiter: LOITER_COMPLETE

state 4722 begin climb

4724 0.70 243.3 1988 2094 2394 2234 315.8 0.0 316 4757 0.73 2.00 23.98 0.737 10756 0.061 0.028 2275 746 2204 2283 2125 0 0 0 0 0 0 27.29 26.66 26.25

4797 0.74 345.0 2276 747 2283 2125 310.6 8.6 330 4892 0.00 2.00 85.45 0.752 9254 0.000 0.020 2275 2119 1789 1874 1705 0 0 0 0 0 0 27.07 27.03 25.49

5207 0.74 345.0 2275 2119 1876 1702 261.3 12.3 362 5210 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2120 1787 1873 1701 0 0 0 0 0 0 27.22 27.29 27.28

5507 0.74 345.0 2275 2122 1873 1702 223.9 12.3 372 5513 0.00 2.05 0.00 0.000 260 0.000 0.037 2279 3492 1786 1872 1700 0 0 0 0 0 0 27.40 27.15 27.46

5533 0.74 345.0 2274 3492 1872 1701 220.4 12.8 377 5540 0.00 1.92 0.00 0.000 1030 0.000 0.018 2285 2113 1786 1872 1700 0 0 0 0 0 0 27.28 27.26 27.30

5838 0.74 362.6 2285 2113 1874 1697 182.5 11.4 396 5862 0.00 2.03 14.77 0.598 8740 0.000 0.028 2295 741 1719 1803 1635 0 0 0 0 0 0 27.50 26.99 26.40

5911 0.74 362.6 2296 741 1810 1636 173.6 12.8 410 5919 0.00 1.98 0.00 0.000 1030 0.000 0.020 2298 2102 1719 1804 1635 0 0 0 0 0 0 27.21 27.17 27.20

6224 0.74 362.6 2295 2108 1805 1634 131.2 13.8 442 6231 0.00 2.08 0.00 0.000 260 0.000 0.037 2295 3497 1716 1801 1631 0 0 0 0 0 0 27.48 27.22 27.54

6251 0.74 362.6 2294 3503 1805 1630 127.3 15.0 447 6260 0.00 1.95 0.00 0.000 1030 0.000 0.018 2305 2107 1719 1803 1635 0 0 0 0 0 0 27.35 27.34 27.36

6556 0.74 362.6 2306 2104 1805 1634 87.8 12.5 478 6563 0.00 2.08 0.00 0.000 260 0.000 0.037 2306 3489 1718 1803 1634 0 0 0 0 0 0 27.55 27.29 27.61

6588 0.74 362.6 2306 3489 1804 1635 83.5 13.2 484 6595 0.15 1.95 0.00 0.000 5126 0.155 0.017 2275 2089 1718 1803 1633 0 0 0 0 0 0 27.18 27.40 27.32

6899 0.76 399.8 2275 2087 1806 1633 49.3 10.8 516 6937 0.00 2.08 31.10 0.581 8740 0.000 0.027 2283 730 1567 1658 1477 0 0 0 0 0 0 27.59 26.90 26.37

6992 0.78 444.9 2283 730 1658 1479 39.2 10.5 533 7037 0.00 2.00 37.30 0.575 9254 0.000 0.020 2283 2109 1383 1477 1289 0 0 0 0 0 0 27.12 27.08 26.08

7217 0.78 449.3 2283 2113 1484 1287 13.2 11.9 576 7225 0.00 0.00 1.88 0.083 8230 0.000 0.000 2283 2112 1364 1459 1270 0 0 0 0 0 0 27.22 27.01 26.91

7308 end climb: SURFACE_DEPTH_REACHED

state 7308 begin surface coast

7335 end surface coast: CONTROL_FINISHED_OK

state 7335 begin surface

ID	178	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	28	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	1
DIVE	14	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	105	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LAT	47.700001	R_STBD_OVSHOOT	62	XPDR_VALID	6
STOP_T	0	TGT_DEFAULT_LON	-122.4	ROLL_AD_RATE	350	XPDR_INHIBIT	99
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_TGT	360	N_FILEKB	8	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_ABORT	1020	FILEMGR	0	VBD_MIN	425	MOTHERBOARD	4
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	3	COMM_SEQ	0	C_VBD	3197	DEVICE2	-1
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00038000001	LOGGERS	3
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	100	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE4	-1
T_MISSION	160	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_ABORT	1440	T_GPS	15	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN	225	N_GPS	100740	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	1	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_LOITER	1800	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	148	SIM_W	0
USE_BATHY	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	95	SIM_PITCH	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	22	SEABIRD_T_G	0.0043966938
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	165	MINV_10V	9.5	SEABIRD_T_H	0.00063700025
D_OFFGRID	1020	PITCH_MAX	3954	MAXI_24V	0.60000002	SEABIRD_T_I	2.5067597e-05
T_WATCHDOG	10	C_PITCH	2040	MAXI_10V	0.80000001	SEABIRD_T_J	2.9826379e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.7293062
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1206031
MAX_BUOY	250	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	0.00047059715
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-43.355331	SEABIRD_C_J	5.505409e-05
GLIDE_SLOPE	30	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001161899	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	128	SC_PROFILE	7.0
RHO	1.0275	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	51842	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	226	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3782	ALTIM_BOTTOM_TURN_MARGIN	0	PM_NDIVE	1.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.010078	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	9.8500004e-06	C_ROLL_CLIMB	2100	ALTIM_PING_DEPTH	0	PM_SENDDEPTH	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0

GPS1	180317,155557,2909.8811,-7606.5791,12,1.1,40,-9.0,0.6,74.7,8,4.4	SPEED_LIMITS	0.208,0.347
_CALLS	1	TGT_NAME	WS
_XMS_NAKs	0	TGT_LATLONG	2906.500,-7615.500
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.37	MHEAD_RNG_PITCHd_Wd	254.3,16007,-16.4,-12.000,-19.05,3103
_SM_ANGLEo	-60.5	D_GRID	5022
GPS2	180317,160320,2909.9602,-7606.4346,12,1.3,39,-9.0,0.7,57.3,7,4.5

FINISH	1.5,1.012556	_24V_AH	25.25,11.457
SM_CCo	7355,0.45,0.075,0,0,1360,450.13	_10V_AH	10.35,7.277
SM_GC	2.73,5.35,0.55,0.45,0.026,0.031,0.075,140,2516,1360,-5.82,-1.50,450.13,0,0,0,0,0,0,27.12,27.13,27.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2855.60,-7608.00,180317,134238	FG_AHR_10Vo	0.000
TT8_MAMPS	0.050932,0.317576	MEM	153000
HUMID	37.08	DATA_FILE_SIZE	20100,599
INTERNAL_PRESSURE	9.57068	CAP_FILE_SIZE	76108,0
TCM_TEMP	24.00	CFSIZE	260034560,254922752
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	7891328	CURRENT	0.477,80.45,1
PM_FREEKB	61937088	GPS	180317,180726,2910.037,-7605.737,8,1.2,41,-9.0,0.9,52.3,9,4.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	244	85.46	nil	0	0	0.00
Roll_motor	48	1250	1537.90	nil	0	0	0.00
VBD_pump_during_apogee	523	803	10623.74	nil	0	0	0.00
VBD_pump_during_surface	0	74	0.85	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	7330	7	1372.76
Iridium_during_xfer	277	91	637.99	PMAR	7334	14	2687.01
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	30	13.24
TT8	0	0	0.00
LPSleep	5435	2	123.20
TT8_Active	618	16	103.40
TT8_Sampling	1585	46	756.95
TT8_CF8	161	54	90.95
TT8_Kalman	0	0	0.00
Analog_circuits	1473	15	233.34
GPS_charging	0	0	0.00
Compass	864	0	6.71
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.70	-243.3	141	2513	1425	1286	0.0	0.0	0	92	0.00	0.00	-75.60	0.000	16386	0.000	0.000	140	2512	3093	3144	3043	0	0	0	0	0	0	27.23	28.83	27.30
94	-0.70	-243.3	141	2510	3145	3043	3.3	-1.7	13	133	6.90	2.12	-22.55	0.000	18980	0.245	1.250	1807	1138	3964	4030	3899	0	0	0	0	0	0	26.74	25.90	27.00
214	-0.70	-243.3	1807	1139	4028	3899	20.1	-14.4	35	221	0.00	2.00	0.00	0.000	1030	0.000	0.028	1800	2483	3962	4026	3899	0	0	0	0	0	0	27.07	27.01	27.09
401	-0.70	-243.3	1800	2483	4028	3906	50.2	-16.1	72	404	0.00	0.00	0.00	0.000	6	0.000	0.000	1800	2483	3963	4027	3899	0	0	0	0	0	0	27.37	27.43	27.43
702	-0.70	-243.3	1800	2484	4027	3899	100.1	-15.8	102	709	0.00	1.98	0.00	0.000	516	0.000	0.023	1800	1129	3966	4033	3899	0	0	0	0	0	0	27.49	27.28	27.57
754	-0.70	-243.3	1800	1130	4028	3904	108.6	-16.1	112	760	0.00	2.03	0.00	0.000	1030	0.000	0.028	1790	2503	3961	4023	3900	0	0	0	0	0	0	27.32	27.27	27.36
1065	-0.70	-243.3	1791	2505	4028	3899	159.0	-15.0	144	1071	0.00	1.92	0.00	0.000	260	0.000	0.047	1781	3774	3963	4026	3900	0	0	0	0	0	0	27.56	27.29	27.62
1111	-0.70	-243.3	1781	3774	4028	3901	165.8	-14.4	153	1120	0.12	1.75	0.00	0.000	3078	0.151	0.021	1814	2489	3962	4026	3899	0	0	0	0	0	0	27.20	27.43	27.35
1426	-0.70	-243.3	1812	2490	4028	3900	203.6	-11.8	183	1433	0.00	1.90	0.00	0.000	548	0.000	0.023	1814	1149	3963	4027	3900	0	0	0	0	0	0	27.60	27.39	27.66
1472	-0.70	-243.3	1814	1150	4028	3899	209.3	-11.1	192	1479	0.00	1.98	0.00	0.000	1062	0.000	0.026	1806	2506	3963	4027	3900	0	0	0	0	0	0	27.43	27.38	27.46
1789	-0.70	-243.3	1807	2507	4027	3900	248.8	-12.1	205	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2506	3962	4027	3898	0	0	0	0	0	0	27.62	27.70	27.68
2089	-0.70	-243.3	1805	2506	4027	3901	283.5	-11.6	215	2096	0.00	1.95	0.00	0.000	548	0.000	0.022	1809	1144	3963	4027	3899	0	0	0	0	0	0	27.64	27.46	27.70
2115	-0.70	-243.3	1807	1145	4028	3900	286.5	-12.0	220	2123	0.00	2.00	0.00	0.000	1030	0.000	0.027	1799	2504	3963	4026	3900	0	0	0	0	0	0	27.48	27.41	27.49
2421	-0.70	-243.3	1799	2505	4029	3900	321.4	-10.9	231	2424	0.00	0.00	0.00	0.000	38	0.000	0.000	1799	2504	3963	4027	3900	0	0	0	0	0	0	27.67	27.72	27.71
2721	-0.70	-243.3	1799	2504	4027	3901	354.6	-10.8	241	2728	0.00	1.95	0.00	0.000	548	0.000	0.023	1802	1142	3963	4026	3900	0	0	0	0	0	0	27.65	27.46	27.72
2758	-0.70	-243.3	1797	1143	4027	3901	358.6	-10.7	248	2764	0.00	2.00	0.00	0.000	1062	0.000	0.028	1790	2505	3962	4026	3899	0	0	0	0	0	0	27.48	27.41	27.51
2772	end dive: TARGET_DEPTH_EXCEEDED
state	2772	begin apogee
2776	-0.19	0.0	1789	2098	4026	3900	360.3	-10.0	251	2930	0.57	0.00	149.23	0.783	10246	0.109	0.000	1982	2093	3197	3260	3135	0	0	0	0	0	0	27.29	25.90	25.38
2933	end apogee: CONTROL_FINISHED_OK
state	2933	begin loiter
3224	-0.10	215.2	1983	2093	3259	3135	388.2	-7.1	266	3407	0.00	0.00	180.10	0.803	8230	0.000	0.000	1983	2093	2319	2397	2242	0	0	0	0	0	0	27.17	25.78	25.25
3704	-0.10	215.2	1982	2094	2394	2235	375.8	5.2	282	3706	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2093	2314	2394	2235	0	0	0	0	0	0	27.16	27.23	27.24
4004	-0.10	215.2	1983	2094	2394	2234	357.3	6.4	292	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2093	2314	2394	2235	0	0	0	0	0	0	27.37	27.43	27.43
4303	-0.10	215.2	1983	2093	2393	2235	338.3	6.3	302	4307	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2093	2314	2394	2235	0	0	0	0	0	0	27.48	27.54	27.54
4603	-0.10	215.2	1983	2093	2394	2235	321.9	5.3	312	4607	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	2098	2313	2394	2233	0	0	0	0	0	0	27.53	27.60	27.60
4722	end loiter: LOITER_COMPLETE
state	4722	begin climb
4724	0.70	243.3	1988	2094	2394	2234	315.8	0.0	316	4757	0.73	2.00	23.98	0.737	10756	0.061	0.028	2275	746	2204	2283	2125	0	0	0	0	0	0	27.29	26.66	26.25
4797	0.74	345.0	2276	747	2283	2125	310.6	8.6	330	4892	0.00	2.00	85.45	0.752	9254	0.000	0.020	2275	2119	1789	1874	1705	0	0	0	0	0	0	27.07	27.03	25.49
5207	0.74	345.0	2275	2119	1876	1702	261.3	12.3	362	5210	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2120	1787	1873	1701	0	0	0	0	0	0	27.22	27.29	27.28
5507	0.74	345.0	2275	2122	1873	1702	223.9	12.3	372	5513	0.00	2.05	0.00	0.000	260	0.000	0.037	2279	3492	1786	1872	1700	0	0	0	0	0	0	27.40	27.15	27.46
5533	0.74	345.0	2274	3492	1872	1701	220.4	12.8	377	5540	0.00	1.92	0.00	0.000	1030	0.000	0.018	2285	2113	1786	1872	1700	0	0	0	0	0	0	27.28	27.26	27.30
5838	0.74	362.6	2285	2113	1874	1697	182.5	11.4	396	5862	0.00	2.03	14.77	0.598	8740	0.000	0.028	2295	741	1719	1803	1635	0	0	0	0	0	0	27.50	26.99	26.40
5911	0.74	362.6	2296	741	1810	1636	173.6	12.8	410	5919	0.00	1.98	0.00	0.000	1030	0.000	0.020	2298	2102	1719	1804	1635	0	0	0	0	0	0	27.21	27.17	27.20
6224	0.74	362.6	2295	2108	1805	1634	131.2	13.8	442	6231	0.00	2.08	0.00	0.000	260	0.000	0.037	2295	3497	1716	1801	1631	0	0	0	0	0	0	27.48	27.22	27.54
6251	0.74	362.6	2294	3503	1805	1630	127.3	15.0	447	6260	0.00	1.95	0.00	0.000	1030	0.000	0.018	2305	2107	1719	1803	1635	0	0	0	0	0	0	27.35	27.34	27.36
6556	0.74	362.6	2306	2104	1805	1634	87.8	12.5	478	6563	0.00	2.08	0.00	0.000	260	0.000	0.037	2306	3489	1718	1803	1634	0	0	0	0	0	0	27.55	27.29	27.61
6588	0.74	362.6	2306	3489	1804	1635	83.5	13.2	484	6595	0.15	1.95	0.00	0.000	5126	0.155	0.017	2275	2089	1718	1803	1633	0	0	0	0	0	0	27.18	27.40	27.32
6899	0.76	399.8	2275	2087	1806	1633	49.3	10.8	516	6937	0.00	2.08	31.10	0.581	8740	0.000	0.027	2283	730	1567	1658	1477	0	0	0	0	0	0	27.59	26.90	26.37
6992	0.78	444.9	2283	730	1658	1479	39.2	10.5	533	7037	0.00	2.00	37.30	0.575	9254	0.000	0.020	2283	2109	1383	1477	1289	0	0	0	0	0	0	27.12	27.08	26.08
7217	0.78	449.3	2283	2113	1484	1287	13.2	11.9	576	7225	0.00	0.00	1.88	0.083	8230	0.000	0.000	2283	2112	1364	1459	1270	0	0	0	0	0	0	27.22	27.01	26.91
7308	end climb: SURFACE_DEPTH_REACHED
state	7308	begin surface coast
7335	end surface coast: CONTROL_FINISHED_OK
state	7335	begin surface