Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 1990 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 27 HEADING -1 C_ROLL_CLIMB 1990 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 35 ESCAPE_HEADING 0 HEAD_ERRBAND 20 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 16

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 9 ALTIM_PULSE 1

D_ABORT 220 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 5

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 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 1 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 200 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 50 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 16 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 5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 50 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 20 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 0.029999999 T_WATCHDOG 10

C_PITCH 2479 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 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 45 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 200 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 9 VBD_MAXERRORS 1

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 27 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 35 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 240217,180145,4744.3848,-12224.5498,3,1.0,24,16.3,0.0,0.0,9,4.9 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.022362,-0.223717

_SM_DEPTHo 1.48 KALMAN_X -310.683746,-483.101868,734.701538,493.402222,60.767395

_SM_ANGLEo -65.3 KALMAN_Y 3226.805420,-966.053162,1304.849976,8.601900,589.989929

GPS2 240217,180654,4744.3804,-12224.5830,5,1.9,50,16.3,0.0,0.0,7,3.6 MHEAD_RNG_PITCHd_Wd 169.4,3493,-15.0,-10.000,-23.98,2935

SPEED_LIMITS 0.084,0.225 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.1,1.016716 _24V_AH 23.91,4.267

SM_CCo 2784,0.00,0.000,0,0,1827,595.01 _10V_AH 9.51,4.646

SM_GC 1.35,30.15,0.00,0.00,0.028,0.000,0.000,231,1989,1827,-7.02,-0.05,595.01,0,0,0,0,0,0,26.01,26.64,26.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,171320 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.220955 MEM 322256

HUMID 30.50 DATA_FILE_SIZE 17686,212

INTERNAL_PRESSURE 9.25196 CAP_FILE_SIZE 54309,0

TCM_TEMP 6.90 CFSIZE 1024409600,1016823808

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

ALTIM_TOP_PING 19.8,5.0 GPS 240217,185510,4744.001,-12224.570,3,0.8,15,16.3,0.0,0.0,10,4.4

ALTIM_BOTTOM_PING 100.3,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 64 134 208.28 SBE_CT 142 24 81.66

Roll_motor 49 72 85.54 AA4330 271 33 214.57

VBD_pump_during_apogee 57 1983 2746.14 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1102 17 469.19

VBD_valve 0 0 0.00 SAT1001 1947 17 829.02

Iridium_during_init 24 103 61.22 nil 0 0 0.00

Iridium_during_connect 20 160 78.91 nil 0 0 0.00

Iridium_during_xfer 154 223 825.30 nil 0 0 0.00

Transponder_ping 1 420 10.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 51 50 24.66

TT8 593 19 111.76

LPSleep 60 2 1.25

TT8_Active 197 19 37.17

TT8_Sampling 2230 39 844.11

TT8_CF8 39 45 17.17

TT8_Kalman 33 81 26.02

Analog_circuits 754 12 86.15

GPS_charging 0 0 0.00

Compass 333 15 47.56

RAFOS 0 0 0.00

Transponder 7 30 2.05

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 -1.39 -195.5 235 1983 1927 4094 0.0 0.0 0 32 0.00 0.00 -5.43 0.000 16390 0.000 0.000 235 1983 2752 2752 4094 0 0 0 0 0 0 26.48 25.68 26.47 9.34 31.45

34 -1.39 -195.5 235 1983 2753 4094 1.5 0.0 1 64 22.67 2.60 0.00 0.000 2564 0.135 0.063 2021 1004 2755 2755 4094 0 0 0 0 0 0 25.81 25.84 25.89 9.50 31.33

147 -1.39 -195.5 2020 1004 2758 4094 32.9 -17.0 10 161 0.00 2.53 0.00 0.000 1030 0.000 0.036 2020 1991 2759 2759 4094 0 0 0 0 0 0 26.08 26.03 26.10 9.52 31.57

222 -1.39 -195.5 2020 1992 2761 4095 44.1 -14.4 16 236 0.00 2.67 0.00 0.000 260 0.000 0.069 2021 2974 2761 2761 4094 0 0 0 0 0 0 26.40 26.01 26.41 9.52 31.02

273 -1.39 -195.5 2020 2975 2762 4094 51.0 -13.3 20 287 0.00 2.53 0.00 0.000 1030 0.000 0.035 2021 1992 2762 2762 4094 0 0 0 0 0 0 26.19 26.14 26.22 9.52 31.02

348 -1.39 -195.5 2020 1992 2765 4095 60.8 -13.5 26 362 0.00 2.62 0.00 0.000 516 0.000 0.068 2021 1014 2765 2765 4094 0 0 0 0 0 0 26.49 26.12 26.51 9.51 31.02

388 -1.39 -195.5 2020 1014 2765 4094 66.6 -14.5 29 402 0.00 2.50 0.00 0.000 1030 0.000 0.037 2021 1998 2766 2766 4095 0 0 0 0 0 0 26.26 26.21 26.29 9.52 31.25

462 -1.39 -195.5 2020 1998 2767 4094 77.0 -13.6 35 476 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1998 2768 2768 4094 0 0 0 0 0 0 26.56 26.58 26.57 9.53 31.41

537 -1.39 -195.5 2020 1998 2769 4094 86.0 -11.8 41 550 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1998 2770 2770 4095 0 0 0 0 0 0 26.59 26.61 26.60 9.52 30.82

611 -1.39 -195.5 2020 1998 2771 4094 95.1 -12.2 47 624 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1998 2771 2771 4094 0 0 0 0 0 0 26.63 26.64 26.65 9.53 31.25

688 -1.39 -195.5 2020 1998 2773 4094 105.5 -13.3 53 702 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1998 2774 2774 4094 0 0 0 0 0 0 26.66 26.67 26.67 9.53 31.29

762 -1.39 -195.5 2021 1998 2776 4094 116.0 -14.1 59 777 0.00 2.65 0.00 0.000 516 0.000 0.064 2020 1009 2776 2776 4094 0 0 0 0 0 0 26.68 26.31 26.70 9.53 30.90

802 -1.39 -195.5 2020 1009 2777 4094 121.9 -14.5 62 817 0.00 2.45 0.00 0.000 1030 0.000 0.037 2021 1981 2778 2778 4094 0 0 0 0 0 0 26.43 26.38 26.46 9.53 30.86

877 -1.39 -195.5 2020 1982 2780 4094 132.7 -14.4 68 892 0.00 2.65 0.00 0.000 260 0.000 0.067 2021 2968 2780 2780 4094 0 0 0 0 0 0 26.72 26.33 26.73 9.53 30.74

906 -1.39 -195.5 2020 2968 2781 4094 136.6 -14.1 70 920 0.00 2.50 0.00 0.000 1030 0.000 0.036 2021 1987 2781 2781 4094 0 0 0 0 0 0 26.46 26.40 26.48 9.53 30.94

981 -1.39 -195.5 2020 1987 2783 4094 146.1 -12.5 76 995 0.00 2.60 0.00 0.000 516 0.000 0.067 2021 1007 2783 2783 4094 0 0 0 0 0 0 26.74 26.35 26.74 9.53 30.98

1008 end dive: TARGET_DEPTH_EXCEEDED

state 1008 begin apogee

1015 -0.33 0.0 2020 1990 2784 4094 150.1 -13.7 78 1043 3.75 0.00 14.70 1.984 10244 0.077 0.000 2361 1990 2520 2520 4094 0 0 0 0 0 0 26.39 25.35 24.31 9.53 30.98

1044 end apogee: CONTROL_FINISHED_OK

state 1044 begin climb

1045 1.39 195.5 2360 1990 2520 4094 153.8 0.0 80 1074 5.85 2.70 13.15 1.941 10756 0.049 0.070 2904 1010 2292 2292 4094 0 0 0 0 0 0 25.86 25.79 23.91 9.48 30.66

1135 1.39 195.5 2903 1010 2290 4094 147.7 10.0 87 1149 0.00 2.50 0.00 0.000 1030 0.000 0.031 2904 1988 2290 2290 4094 0 0 0 0 0 0 25.74 25.70 25.76 9.44 30.50

1210 1.43 214.7 2903 1988 2288 4094 140.6 9.3 93 1225 0.10 0.00 2.83 0.642 10246 0.077 0.000 2920 1988 2271 2271 4094 0 0 0 0 0 0 25.93 25.31 24.29 9.44 30.70

1285 1.44 218.0 2919 1988 2269 4095 133.3 9.9 99 1300 0.00 0.00 0.85 0.003 8198 0.000 0.000 2919 1988 2269 2269 4094 0 0 0 0 0 0 26.22 26.22 26.22 9.43 30.74

1360 1.44 218.0 2919 1988 2267 4094 124.3 12.4 105 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 1988 2266 2266 4094 0 0 0 0 0 0 26.32 26.33 26.33 9.43 30.74

1434 1.44 218.0 2919 1988 2265 4094 115.9 11.0 111 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1988 2265 2265 4094 0 0 0 0 0 0 26.39 26.41 26.40 9.43 30.78

1508 1.46 229.8 2919 1988 2263 4094 108.6 9.6 117 1523 0.00 0.00 2.55 0.409 8198 0.000 0.000 2919 1988 2251 2251 4094 0 0 0 0 0 0 26.45 25.60 24.66 9.42 30.86

1585 1.47 235.6 2919 1988 2249 4094 101.4 9.8 123 1600 0.00 2.67 0.47 0.002 8708 0.000 0.069 2920 1006 2249 2249 4094 0 0 0 0 0 0 26.48 26.10 26.48 9.42 30.74

1649 1.47 235.6 2919 1006 2247 4095 94.2 11.4 128 1665 0.05 2.42 1.02 0.004 11270 0.081 0.031 2930 1975 2247 2247 4094 0 0 0 0 0 0 26.20 26.23 26.26 9.42 31.13

1725 1.47 235.6 2930 1976 2246 4094 85.4 11.5 134 1739 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1976 2246 2246 4095 0 0 0 0 0 0 26.56 26.58 26.57 9.42 31.65

1799 1.47 235.6 2930 1975 2244 4094 77.0 11.3 140 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1975 2243 2243 4094 0 0 0 0 0 0 26.60 26.61 26.60 9.42 30.86

1873 1.48 237.2 2929 1976 2242 4094 69.5 9.9 146 1887 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1976 2242 2242 4094 0 0 0 0 0 0 26.63 26.64 26.64 9.42 30.98

1947 1.54 271.0 2930 1975 2241 4094 62.9 8.8 152 1962 0.17 0.00 3.65 0.618 10246 0.057 0.000 2954 1976 2202 2202 4094 0 0 0 0 0 0 26.43 25.86 25.15 9.42 30.78

2022 1.54 271.0 2953 1975 2201 4094 55.7 10.0 158 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1975 2200 2200 4094 0 0 0 0 0 0 26.64 26.65 26.65 9.41 30.70

2096 1.54 271.0 2953 1976 2198 4094 47.0 12.0 164 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1976 2198 2198 4095 0 0 0 0 0 0 26.66 26.68 26.68 9.41 31.61

2170 1.54 271.0 2953 1976 2196 4094 38.9 10.6 170 2184 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1975 2196 2196 4094 0 0 0 0 0 0 26.69 26.70 26.70 9.41 30.98

2244 1.60 301.2 2954 1976 2195 4094 32.1 8.9 176 2259 0.12 0.00 3.10 0.376 10246 0.070 0.000 2974 1976 2167 2167 4094 0 0 0 0 0 0 26.50 25.99 25.39 9.40 30.74

2320 1.60 301.2 2973 1977 2165 4094 24.6 10.3 182 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 1977 2165 2165 4094 0 0 0 0 0 0 26.71 26.73 26.72 9.40 30.82

2394 1.60 301.2 2973 1977 2163 4095 15.6 12.2 188 2409 0.00 2.62 0.00 0.000 516 0.000 0.073 2974 1007 2163 2163 4094 0 0 0 0 0 0 26.73 26.34 26.74 9.40 31.49

2562 2.18 589.4 2973 1006 2161 4094 6.0 -0.0 202 2592 1.83 2.40 15.57 0.633 11270 0.030 0.030 3160 1988 1829 1829 4094 0 0 0 0 0 0 26.53 26.50 25.57 9.40 31.33

2639 end climb: SURFACE_DEPTH_REACHED

state 2639 begin surface coast

2688 end surface coast: CONTROL_FINISHED_OK

state 2688 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	1990	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	27	HEADING	-1	C_ROLL_CLIMB	1990	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	35	ESCAPE_HEADING	0	HEAD_ERRBAND	20	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	16
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	9	ALTIM_PULSE	1
D_ABORT	220	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	5
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	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	1	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	200	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	50	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	240217,180145,4744.3848,-12224.5498,3,1.0,24,16.3,0.0,0.0,9,4.9	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.022362,-0.223717
_SM_DEPTHo	1.48	KALMAN_X	-310.683746,-483.101868,734.701538,493.402222,60.767395
_SM_ANGLEo	-65.3	KALMAN_Y	3226.805420,-966.053162,1304.849976,8.601900,589.989929
GPS2	240217,180654,4744.3804,-12224.5830,5,1.9,50,16.3,0.0,0.0,7,3.6	MHEAD_RNG_PITCHd_Wd	169.4,3493,-15.0,-10.000,-23.98,2935
SPEED_LIMITS	0.084,0.225	D_GRID	175

FINISH	0.1,1.016716	_24V_AH	23.91,4.267
SM_CCo	2784,0.00,0.000,0,0,1827,595.01	_10V_AH	9.51,4.646
SM_GC	1.35,30.15,0.00,0.00,0.028,0.000,0.000,231,1989,1827,-7.02,-0.05,595.01,0,0,0,0,0,0,26.01,26.64,26.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,171320	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.220955	MEM	322256
HUMID	30.50	DATA_FILE_SIZE	17686,212
INTERNAL_PRESSURE	9.25196	CAP_FILE_SIZE	54309,0
TCM_TEMP	6.90	CFSIZE	1024409600,1016823808
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
ALTIM_TOP_PING	19.8,5.0	GPS	240217,185510,4744.001,-12224.570,3,0.8,15,16.3,0.0,0.0,10,4.4
ALTIM_BOTTOM_PING	100.3,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	64	134	208.28	SBE_CT	142	24	81.66
Roll_motor	49	72	85.54	AA4330	271	33	214.57
VBD_pump_during_apogee	57	1983	2746.14	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1102	17	469.19
VBD_valve	0	0	0.00	SAT1001	1947	17	829.02
Iridium_during_init	24	103	61.22	nil	0	0	0.00
Iridium_during_connect	20	160	78.91	nil	0	0	0.00
Iridium_during_xfer	154	223	825.30	nil	0	0	0.00
Transponder_ping	1	420	10.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	51	50	24.66
TT8	593	19	111.76
LPSleep	60	2	1.25
TT8_Active	197	19	37.17
TT8_Sampling	2230	39	844.11
TT8_CF8	39	45	17.17
TT8_Kalman	33	81	26.02
Analog_circuits	754	12	86.15
GPS_charging	0	0	0.00
Compass	333	15	47.56
RAFOS	0	0	0.00
Transponder	7	30	2.05

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	-1.39	-195.5	235	1983	1927	4094	0.0	0.0	0	32	0.00	0.00	-5.43	0.000	16390	0.000	0.000	235	1983	2752	2752	4094	0	0	0	0	0	0	26.48	25.68	26.47	9.34	31.45
34	-1.39	-195.5	235	1983	2753	4094	1.5	0.0	1	64	22.67	2.60	0.00	0.000	2564	0.135	0.063	2021	1004	2755	2755	4094	0	0	0	0	0	0	25.81	25.84	25.89	9.50	31.33
147	-1.39	-195.5	2020	1004	2758	4094	32.9	-17.0	10	161	0.00	2.53	0.00	0.000	1030	0.000	0.036	2020	1991	2759	2759	4094	0	0	0	0	0	0	26.08	26.03	26.10	9.52	31.57
222	-1.39	-195.5	2020	1992	2761	4095	44.1	-14.4	16	236	0.00	2.67	0.00	0.000	260	0.000	0.069	2021	2974	2761	2761	4094	0	0	0	0	0	0	26.40	26.01	26.41	9.52	31.02
273	-1.39	-195.5	2020	2975	2762	4094	51.0	-13.3	20	287	0.00	2.53	0.00	0.000	1030	0.000	0.035	2021	1992	2762	2762	4094	0	0	0	0	0	0	26.19	26.14	26.22	9.52	31.02
348	-1.39	-195.5	2020	1992	2765	4095	60.8	-13.5	26	362	0.00	2.62	0.00	0.000	516	0.000	0.068	2021	1014	2765	2765	4094	0	0	0	0	0	0	26.49	26.12	26.51	9.51	31.02
388	-1.39	-195.5	2020	1014	2765	4094	66.6	-14.5	29	402	0.00	2.50	0.00	0.000	1030	0.000	0.037	2021	1998	2766	2766	4095	0	0	0	0	0	0	26.26	26.21	26.29	9.52	31.25
462	-1.39	-195.5	2020	1998	2767	4094	77.0	-13.6	35	476	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1998	2768	2768	4094	0	0	0	0	0	0	26.56	26.58	26.57	9.53	31.41
537	-1.39	-195.5	2020	1998	2769	4094	86.0	-11.8	41	550	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1998	2770	2770	4095	0	0	0	0	0	0	26.59	26.61	26.60	9.52	30.82
611	-1.39	-195.5	2020	1998	2771	4094	95.1	-12.2	47	624	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1998	2771	2771	4094	0	0	0	0	0	0	26.63	26.64	26.65	9.53	31.25
688	-1.39	-195.5	2020	1998	2773	4094	105.5	-13.3	53	702	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1998	2774	2774	4094	0	0	0	0	0	0	26.66	26.67	26.67	9.53	31.29
762	-1.39	-195.5	2021	1998	2776	4094	116.0	-14.1	59	777	0.00	2.65	0.00	0.000	516	0.000	0.064	2020	1009	2776	2776	4094	0	0	0	0	0	0	26.68	26.31	26.70	9.53	30.90
802	-1.39	-195.5	2020	1009	2777	4094	121.9	-14.5	62	817	0.00	2.45	0.00	0.000	1030	0.000	0.037	2021	1981	2778	2778	4094	0	0	0	0	0	0	26.43	26.38	26.46	9.53	30.86
877	-1.39	-195.5	2020	1982	2780	4094	132.7	-14.4	68	892	0.00	2.65	0.00	0.000	260	0.000	0.067	2021	2968	2780	2780	4094	0	0	0	0	0	0	26.72	26.33	26.73	9.53	30.74
906	-1.39	-195.5	2020	2968	2781	4094	136.6	-14.1	70	920	0.00	2.50	0.00	0.000	1030	0.000	0.036	2021	1987	2781	2781	4094	0	0	0	0	0	0	26.46	26.40	26.48	9.53	30.94
981	-1.39	-195.5	2020	1987	2783	4094	146.1	-12.5	76	995	0.00	2.60	0.00	0.000	516	0.000	0.067	2021	1007	2783	2783	4094	0	0	0	0	0	0	26.74	26.35	26.74	9.53	30.98
1008	end dive: TARGET_DEPTH_EXCEEDED
state	1008	begin apogee
1015	-0.33	0.0	2020	1990	2784	4094	150.1	-13.7	78	1043	3.75	0.00	14.70	1.984	10244	0.077	0.000	2361	1990	2520	2520	4094	0	0	0	0	0	0	26.39	25.35	24.31	9.53	30.98
1044	end apogee: CONTROL_FINISHED_OK
state	1044	begin climb
1045	1.39	195.5	2360	1990	2520	4094	153.8	0.0	80	1074	5.85	2.70	13.15	1.941	10756	0.049	0.070	2904	1010	2292	2292	4094	0	0	0	0	0	0	25.86	25.79	23.91	9.48	30.66
1135	1.39	195.5	2903	1010	2290	4094	147.7	10.0	87	1149	0.00	2.50	0.00	0.000	1030	0.000	0.031	2904	1988	2290	2290	4094	0	0	0	0	0	0	25.74	25.70	25.76	9.44	30.50
1210	1.43	214.7	2903	1988	2288	4094	140.6	9.3	93	1225	0.10	0.00	2.83	0.642	10246	0.077	0.000	2920	1988	2271	2271	4094	0	0	0	0	0	0	25.93	25.31	24.29	9.44	30.70
1285	1.44	218.0	2919	1988	2269	4095	133.3	9.9	99	1300	0.00	0.00	0.85	0.003	8198	0.000	0.000	2919	1988	2269	2269	4094	0	0	0	0	0	0	26.22	26.22	26.22	9.43	30.74
1360	1.44	218.0	2919	1988	2267	4094	124.3	12.4	105	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	1988	2266	2266	4094	0	0	0	0	0	0	26.32	26.33	26.33	9.43	30.74
1434	1.44	218.0	2919	1988	2265	4094	115.9	11.0	111	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	1988	2265	2265	4094	0	0	0	0	0	0	26.39	26.41	26.40	9.43	30.78
1508	1.46	229.8	2919	1988	2263	4094	108.6	9.6	117	1523	0.00	0.00	2.55	0.409	8198	0.000	0.000	2919	1988	2251	2251	4094	0	0	0	0	0	0	26.45	25.60	24.66	9.42	30.86
1585	1.47	235.6	2919	1988	2249	4094	101.4	9.8	123	1600	0.00	2.67	0.47	0.002	8708	0.000	0.069	2920	1006	2249	2249	4094	0	0	0	0	0	0	26.48	26.10	26.48	9.42	30.74
1649	1.47	235.6	2919	1006	2247	4095	94.2	11.4	128	1665	0.05	2.42	1.02	0.004	11270	0.081	0.031	2930	1975	2247	2247	4094	0	0	0	0	0	0	26.20	26.23	26.26	9.42	31.13
1725	1.47	235.6	2930	1976	2246	4094	85.4	11.5	134	1739	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1976	2246	2246	4095	0	0	0	0	0	0	26.56	26.58	26.57	9.42	31.65
1799	1.47	235.6	2930	1975	2244	4094	77.0	11.3	140	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1975	2243	2243	4094	0	0	0	0	0	0	26.60	26.61	26.60	9.42	30.86
1873	1.48	237.2	2929	1976	2242	4094	69.5	9.9	146	1887	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1976	2242	2242	4094	0	0	0	0	0	0	26.63	26.64	26.64	9.42	30.98
1947	1.54	271.0	2930	1975	2241	4094	62.9	8.8	152	1962	0.17	0.00	3.65	0.618	10246	0.057	0.000	2954	1976	2202	2202	4094	0	0	0	0	0	0	26.43	25.86	25.15	9.42	30.78
2022	1.54	271.0	2953	1975	2201	4094	55.7	10.0	158	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1975	2200	2200	4094	0	0	0	0	0	0	26.64	26.65	26.65	9.41	30.70
2096	1.54	271.0	2953	1976	2198	4094	47.0	12.0	164	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1976	2198	2198	4095	0	0	0	0	0	0	26.66	26.68	26.68	9.41	31.61
2170	1.54	271.0	2953	1976	2196	4094	38.9	10.6	170	2184	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1975	2196	2196	4094	0	0	0	0	0	0	26.69	26.70	26.70	9.41	30.98
2244	1.60	301.2	2954	1976	2195	4094	32.1	8.9	176	2259	0.12	0.00	3.10	0.376	10246	0.070	0.000	2974	1976	2167	2167	4094	0	0	0	0	0	0	26.50	25.99	25.39	9.40	30.74
2320	1.60	301.2	2973	1977	2165	4094	24.6	10.3	182	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	1977	2165	2165	4094	0	0	0	0	0	0	26.71	26.73	26.72	9.40	30.82
2394	1.60	301.2	2973	1977	2163	4095	15.6	12.2	188	2409	0.00	2.62	0.00	0.000	516	0.000	0.073	2974	1007	2163	2163	4094	0	0	0	0	0	0	26.73	26.34	26.74	9.40	31.49
2562	2.18	589.4	2973	1006	2161	4094	6.0	-0.0	202	2592	1.83	2.40	15.57	0.633	11270	0.030	0.030	3160	1988	1829	1829	4094	0	0	0	0	0	0	26.53	26.50	25.57	9.40	31.33
2639	end climb: SURFACE_DEPTH_REACHED
state	2639	begin surface coast
2688	end surface coast: CONTROL_FINISHED_OK
state	2688	begin surface