Glider dive log

Shilshole 02May17 * SG402 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.013 ROLL_DEG 55 ALTIM_TOP_PING_RANGE 20

MISSION 3 HD_C 2.4999999e-05 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 27 HEADING -1 C_ROLL_CLIMB 2278 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 25 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 20 ALTIM_PING_DELTA 0

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 21 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 11 ALTIM_PULSE 3

D_ABORT 210 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 4

D_NO_BLEED 210 SM_CC 350 ROLL_MAXERRORS 1 XPDR_VALID 0

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 50 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4045 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85000002 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 360 DEVICE4 -1

T_DIVE 33 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_MISSION 43 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 6 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 0 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 100940 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 97

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 48

USE_ICE -1 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 350 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3600 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2490 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

MAX_BUOY 250 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

SPEED_FACTOR 1 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -48.771183 SEABIRD_C_H 1.1416712

MASS 72342 PITCH_AD_RATE 50 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 280 COMPASS_USE 4

HD_A 0.0049999999 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 350

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 100 PITCH_AD_RATE 50 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 12.7 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 350 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 45 PITCH_VBD_SHIFT 0.0015 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 0.0049999999 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 3.3081022e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -48.771183 T_DIVE 33

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 25 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 43

CF8_MAXERRORS 20 ID 402 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 0 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 97 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 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 0

C_ROLL_CLIMB 2278 LOGGERDEVICE4 -1 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2550 MASS 72342 ROLL_DEG 55 USE_ICE -1

DBDW 0 MASS_COMP 0 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.85000002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 280 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 250 ROLL_TIMEOUT 20 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 21 VBD_MAX 4045

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 11 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 3 SEABIRD_C_G -9.6809101 VBD_MIN 50

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 27 NAV_MODE 2 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 0 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FINISH 0 N_GPS 100940 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 0

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_J 2.9009848e-06

D_OFFGRID 100 PHONE_DEVICE 48 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030517,111019,4743.8696,-12224.5928,4,0.9,9,16.3,0.5,27.9,10,7.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.141652,-0.253492

_SM_DEPTHo 1.35 KALMAN_X -4476.157227,-111.941185,261.594849,4608.041992,240.899460

_SM_ANGLEo -54.9 KALMAN_Y -196.048279,-1780.265991,233.168518,3762.662354,186.254608

GPS2 030517,111501,4743.9380,-12224.5312,6,1.0,36,16.3,0.6,29.3,9,3.8 MHEAD_RNG_PITCHd_Wd 167.9,2684,-16.2,-10.101,-19.18,3655

SPEED_LIMITS 0.101,0.290 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.3,1.020506 _24V_AH 24.48,4.267

SM_CCo 1747,4.38,1.212,0,0,2135,350.20 _10V_AH 10.56,2.277

SM_GC 1.95,27.00,3.15,4.38,0.104,0.117,1.212,367,2271,2135,-6.61,0.87,350.20,0,0,0,0,0,0,26.74,26.73,26.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,030517,111107 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.100366 MEM 323532

HUMID 39.28 DATA_FILE_SIZE 10506,272

INTERNAL_PRESSURE 10.3617 CAP_FILE_SIZE 54998,0

TCM_TEMP 9.50 CFSIZE 1024409600,1019019264

XPDR_PINGS 14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

ALTIM_TOP_PING 19.7,20.1 CURRENT 0.147,357.29,1

ALTIM_BOTTOM_PING 100.4,91.3 GPS 030517,114601,4743.817,-12224.510,4,1.0,11,16.3,0.0,0.0,10,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 60 638 939.63 SBE_CT 180 24 106.11

Roll_motor 32 270 213.17 nil 0 0 0.00

VBD_pump_during_apogee 35 4943 4262.95 nil 0 0 0.00

VBD_pump_during_surface 4 1211 129.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.31 nil 0 0 0.00

Iridium_during_connect 18 160 72.67 nil 0 0 0.00

Iridium_during_xfer 136 223 746.73 nil 0 0 0.00

Transponder_ping 4 420 43.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 19.74

TT8 727 19 152.02

LPSleep 414 2 9.60

TT8_Active 254 19 53.24

TT8_Sampling 634 39 266.71

TT8_CF8 29 45 14.49

TT8_Kalman 33 81 28.91

Analog_circuits 546 12 69.21

GPS_charging 0 0 0.00

Compass 402 5 21.23

RAFOS 0 0 0.00

Transponder 9 30 2.91

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.64 -244.4 363 2276 2134 758 0.0 0.0 0 25 0.00 0.00 -5.80 0.000 16390 0.000 0.000 363 2277 2842 2842 802 0 0 0 0 0 0 26.74 25.47 26.75 10.42 40.11

26 -1.64 -244.4 362 2277 2843 801 1.5 0.0 1 51 20.35 0.00 0.00 0.000 2566 0.479 0.000 1954 2275 2844 2844 827 0 0 0 0 0 0 26.25 26.43 26.39 10.59 40.07

83 -1.64 -244.4 1953 2275 2845 712 12.9 -15.1 10 89 0.00 3.45 0.00 0.000 260 0.000 0.271 1953 3482 2845 2845 727 0 0 0 0 0 0 26.68 26.31 26.70 10.59 38.93

120 -1.64 -244.4 1953 3482 2846 685 18.8 -15.9 16 127 0.00 3.12 0.00 0.000 1030 0.000 0.119 1954 2277 2846 2846 701 0 0 0 0 0 0 26.53 26.45 26.55 10.59 39.76

158 -1.64 -244.4 1953 2277 2847 685 23.9 -12.9 22 164 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2277 2848 2848 698 0 0 0 0 0 0 26.76 26.77 26.77 10.58 38.65

194 -1.64 -244.4 1953 2277 2848 675 28.5 -12.2 28 200 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2277 2848 2848 690 0 0 0 0 0 0 26.79 26.81 26.81 10.59 39.32

231 -1.64 -244.4 1953 2277 2849 679 32.7 -11.8 34 237 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2277 2849 2849 693 0 0 0 0 0 0 26.82 26.84 26.84 10.59 38.93

268 -1.64 -244.4 1953 2277 2850 673 36.6 -10.4 40 274 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2277 2850 2850 688 0 0 0 0 0 0 26.85 26.86 26.86 10.58 39.21

304 -1.64 -244.4 1953 2277 2851 677 40.4 -10.6 46 311 0.00 3.22 0.00 0.000 516 0.000 0.209 1954 1082 2851 2851 695 0 0 0 0 0 0 26.88 26.51 26.89 10.59 39.25

372 -1.64 -244.4 1953 1082 2852 666 48.6 -12.7 57 380 0.00 3.10 0.00 0.000 1030 0.000 0.139 1953 2281 2852 2852 687 0 0 0 0 0 0 26.70 26.58 26.72 10.58 39.28

410 -1.64 -244.4 1953 2282 2853 669 53.2 -11.5 63 416 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2853 2853 685 0 0 0 0 0 0 26.94 26.95 26.94 10.58 39.17

447 -1.64 -244.4 1953 2282 2854 668 57.4 -11.3 69 453 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2282 2854 2854 687 0 0 0 0 0 0 26.96 26.96 26.97 10.58 38.62

484 -1.64 -244.4 1953 2282 2855 669 61.8 -12.1 75 490 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2281 2855 2855 685 0 0 0 0 0 0 26.97 26.98 26.98 10.58 39.60

520 -1.64 -244.4 1953 2281 2855 669 65.7 -10.6 81 527 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2855 2855 687 0 0 0 0 0 0 26.98 27.00 27.00 10.58 38.97

558 -1.64 -244.4 1953 2281 2856 670 69.5 -9.9 87 564 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2281 2856 2856 685 0 0 0 0 0 0 27.01 27.02 27.02 10.59 38.77

596 -1.64 -244.4 1953 2281 2857 668 73.3 -10.1 93 603 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2857 2857 687 0 0 0 0 0 0 27.02 27.03 27.03 10.58 39.17

634 -1.64 -244.4 1953 2281 2858 670 77.6 -11.4 99 640 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2282 2858 2858 685 0 0 0 0 0 0 27.03 27.05 27.05 10.59 38.97

670 -1.64 -244.4 1953 2282 2859 668 81.8 -11.1 105 677 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2282 2859 2859 687 0 0 0 0 0 0 27.05 27.06 27.06 10.59 39.48

708 -1.64 -244.4 1953 2281 2859 669 86.0 -11.5 111 714 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2859 2859 685 0 0 0 0 0 0 27.06 27.08 27.08 10.58 39.48

744 -1.64 -244.4 1953 2281 2860 668 90.1 -11.1 117 751 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2860 2860 686 0 0 0 0 0 0 27.07 27.09 27.08 10.59 39.60

781 -1.64 -244.4 1953 2282 2861 669 94.3 -11.0 123 787 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2281 2861 2861 685 0 0 0 0 0 0 27.08 27.10 27.10 10.59 39.09

818 -1.64 -244.4 1953 2282 2861 668 98.3 -11.0 129 824 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2282 2861 2861 687 0 0 0 0 0 0 27.10 27.11 27.11 10.59 39.13

840 end dive: TARGET_DEPTH_EXCEEDED

state 840 begin apogee

843 -0.39 0.0 1953 2281 2862 677 100.4 -10.9 132 869 4.40 0.00 16.30 4.944 10246 0.263 0.000 2355 2282 2549 2549 3961 0 0 0 0 0 0 26.76 26.07 24.89 10.59 39.72

870 end apogee: CONTROL_FINISHED_OK

state 870 begin climb

871 1.64 244.4 2355 2281 2549 882 102.5 0.0 136 901 8.05 0.00 15.32 4.852 10502 0.474 0.000 2989 2282 2260 2260 3823 1 0 0 0 0 0 25.79 25.32 24.48 10.52 39.32

933 1.64 244.4 2987 2282 2259 719 97.7 11.5 146 939 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2282 2259 2259 711 0 0 0 0 0 0 26.26 26.27 26.27 10.46 38.38

969 1.64 244.4 2988 2281 2258 684 93.1 12.1 152 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2259 2259 680 0 0 0 0 0 0 26.38 26.39 26.39 10.46 38.85

1006 1.64 244.4 2988 2282 2258 673 88.6 12.1 158 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2257 2257 671 0 0 0 0 0 0 26.46 26.48 26.48 10.45 39.44

1042 1.64 244.4 2988 2281 2256 660 83.9 12.9 164 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2282 2257 2257 659 0 0 0 0 0 0 26.53 26.55 26.54 10.45 39.17

1079 1.64 244.4 2988 2281 2255 655 79.1 13.6 170 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2282 2256 2256 654 0 0 0 0 0 0 26.59 26.60 26.60 10.45 39.21

1117 1.64 244.4 2988 2282 2255 647 74.5 12.1 176 1123 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2282 2255 2255 648 0 0 0 0 0 0 26.64 26.66 26.65 10.45 38.62

1154 1.64 244.4 2988 2281 2254 644 69.7 13.0 182 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2254 2254 645 0 0 0 0 0 0 26.69 26.70 26.70 10.45 38.62

1190 1.64 244.4 2988 2282 2253 639 64.8 13.1 188 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2253 2253 640 0 0 0 0 0 0 26.72 26.74 26.74 10.45 39.21

1227 1.64 244.4 2989 2281 2252 637 60.0 12.9 194 1233 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2252 2252 638 0 0 0 0 0 0 26.76 26.77 26.77 10.45 39.21

1263 1.64 244.4 2988 2282 2250 634 55.1 13.0 200 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2281 2251 2251 635 0 0 0 0 0 0 26.79 26.81 26.81 10.44 39.48

1300 1.64 244.4 2988 2282 2249 632 50.5 12.7 206 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2282 2249 2249 633 0 0 0 0 0 0 26.82 26.84 26.84 10.44 39.28

1336 1.64 244.4 2988 2282 2249 629 46.2 11.5 212 1343 0.00 3.38 0.00 0.000 260 0.000 0.256 2989 3482 2248 2248 635 0 0 0 0 0 0 26.84 26.47 26.86 10.44 38.81

1434 1.64 244.4 2988 3483 2245 625 30.7 17.9 228 1441 0.00 3.10 0.00 0.000 1030 0.000 0.117 2989 2278 2246 2246 629 0 0 0 0 0 0 26.71 26.63 26.73 10.44 39.60

1472 1.64 244.4 2988 2278 2244 626 25.4 13.1 234 1478 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2277 2243 2243 628 0 0 0 0 0 0 26.93 26.94 26.94 10.43 39.25

1510 1.64 244.4 2988 2278 2243 624 20.5 13.2 240 1517 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2278 2243 2243 627 0 0 0 0 0 0 26.95 26.96 26.96 10.44 39.13

1547 1.64 244.4 2987 2278 2240 624 16.0 11.4 246 1554 0.00 3.22 0.00 0.000 516 0.000 0.211 2989 1077 2242 2242 630 0 0 0 0 0 0 26.97 26.60 26.98 10.43 39.25

1615 1.72 294.3 2988 1077 2240 623 10.0 8.7 257 1630 0.35 3.10 3.60 1.142 11270 0.638 0.134 3013 2284 2198 2198 4095 0 0 0 0 0 0 26.25 26.67 25.96 10.44 39.40

1661 1.72 294.3 3013 2284 2198 700 4.9 12.3 264 1668 0.00 3.33 0.00 0.000 260 0.000 0.248 3014 3479 2198 2198 696 0 0 0 0 0 0 26.98 26.60 26.99 10.43 39.56

1691 end climb: SURFACE_DEPTH_REACHED

state 1691 begin surface coast

1710 end surface coast: CONTROL_FINISHED_OK

state 1711 begin surface

ID	402	HD_B	0.013	ROLL_DEG	55	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	2.4999999e-05	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	27	HEADING	-1	C_ROLL_CLIMB	2278	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	25	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	20	ALTIM_PING_DELTA	0
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	21	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	11	ALTIM_PULSE	3
D_ABORT	210	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	4
D_NO_BLEED	210	SM_CC	350	ROLL_MAXERRORS	1	XPDR_VALID	0
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	50	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4045	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85000002	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	360	DEVICE4	-1
T_DIVE	33	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_MISSION	43	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	6	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	0	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	100940	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	97
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	48
USE_ICE	-1	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	350	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3600	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2490	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
MAX_BUOY	250	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
SPEED_FACTOR	1	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.771183	SEABIRD_C_H	1.1416712
MASS	72342	PITCH_AD_RATE	50	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	280	COMPASS_USE	4
HD_A	0.0049999999	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0

GPS1	030517,111019,4743.8696,-12224.5928,4,0.9,9,16.3,0.5,27.9,10,7.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.141652,-0.253492
_SM_DEPTHo	1.35	KALMAN_X	-4476.157227,-111.941185,261.594849,4608.041992,240.899460
_SM_ANGLEo	-54.9	KALMAN_Y	-196.048279,-1780.265991,233.168518,3762.662354,186.254608
GPS2	030517,111501,4743.9380,-12224.5312,6,1.0,36,16.3,0.6,29.3,9,3.8	MHEAD_RNG_PITCHd_Wd	167.9,2684,-16.2,-10.101,-19.18,3655
SPEED_LIMITS	0.101,0.290	D_GRID	174

FINISH	0.3,1.020506	_24V_AH	24.48,4.267
SM_CCo	1747,4.38,1.212,0,0,2135,350.20	_10V_AH	10.56,2.277
SM_GC	1.95,27.00,3.15,4.38,0.104,0.117,1.212,367,2271,2135,-6.61,0.87,350.20,0,0,0,0,0,0,26.74,26.73,26.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,030517,111107	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.100366	MEM	323532
HUMID	39.28	DATA_FILE_SIZE	10506,272
INTERNAL_PRESSURE	10.3617	CAP_FILE_SIZE	54998,0
TCM_TEMP	9.50	CFSIZE	1024409600,1019019264
XPDR_PINGS	14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
ALTIM_TOP_PING	19.7,20.1	CURRENT	0.147,357.29,1
ALTIM_BOTTOM_PING	100.4,91.3	GPS	030517,114601,4743.817,-12224.510,4,1.0,11,16.3,0.0,0.0,10,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	60	638	939.63	SBE_CT	180	24	106.11
Roll_motor	32	270	213.17	nil	0	0	0.00
VBD_pump_during_apogee	35	4943	4262.95	nil	0	0	0.00
VBD_pump_during_surface	4	1211	129.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.31	nil	0	0	0.00
Iridium_during_connect	18	160	72.67	nil	0	0	0.00
Iridium_during_xfer	136	223	746.73	nil	0	0	0.00
Transponder_ping	4	420	43.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	19.74
TT8	727	19	152.02
LPSleep	414	2	9.60
TT8_Active	254	19	53.24
TT8_Sampling	634	39	266.71
TT8_CF8	29	45	14.49
TT8_Kalman	33	81	28.91
Analog_circuits	546	12	69.21
GPS_charging	0	0	0.00
Compass	402	5	21.23
RAFOS	0	0	0.00
Transponder	9	30	2.91

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.64	-244.4	363	2276	2134	758	0.0	0.0	0	25	0.00	0.00	-5.80	0.000	16390	0.000	0.000	363	2277	2842	2842	802	0	0	0	0	0	0	26.74	25.47	26.75	10.42	40.11
26	-1.64	-244.4	362	2277	2843	801	1.5	0.0	1	51	20.35	0.00	0.00	0.000	2566	0.479	0.000	1954	2275	2844	2844	827	0	0	0	0	0	0	26.25	26.43	26.39	10.59	40.07
83	-1.64	-244.4	1953	2275	2845	712	12.9	-15.1	10	89	0.00	3.45	0.00	0.000	260	0.000	0.271	1953	3482	2845	2845	727	0	0	0	0	0	0	26.68	26.31	26.70	10.59	38.93
120	-1.64	-244.4	1953	3482	2846	685	18.8	-15.9	16	127	0.00	3.12	0.00	0.000	1030	0.000	0.119	1954	2277	2846	2846	701	0	0	0	0	0	0	26.53	26.45	26.55	10.59	39.76
158	-1.64	-244.4	1953	2277	2847	685	23.9	-12.9	22	164	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2277	2848	2848	698	0	0	0	0	0	0	26.76	26.77	26.77	10.58	38.65
194	-1.64	-244.4	1953	2277	2848	675	28.5	-12.2	28	200	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2277	2848	2848	690	0	0	0	0	0	0	26.79	26.81	26.81	10.59	39.32
231	-1.64	-244.4	1953	2277	2849	679	32.7	-11.8	34	237	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2277	2849	2849	693	0	0	0	0	0	0	26.82	26.84	26.84	10.59	38.93
268	-1.64	-244.4	1953	2277	2850	673	36.6	-10.4	40	274	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2277	2850	2850	688	0	0	0	0	0	0	26.85	26.86	26.86	10.58	39.21
304	-1.64	-244.4	1953	2277	2851	677	40.4	-10.6	46	311	0.00	3.22	0.00	0.000	516	0.000	0.209	1954	1082	2851	2851	695	0	0	0	0	0	0	26.88	26.51	26.89	10.59	39.25
372	-1.64	-244.4	1953	1082	2852	666	48.6	-12.7	57	380	0.00	3.10	0.00	0.000	1030	0.000	0.139	1953	2281	2852	2852	687	0	0	0	0	0	0	26.70	26.58	26.72	10.58	39.28
410	-1.64	-244.4	1953	2282	2853	669	53.2	-11.5	63	416	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2853	2853	685	0	0	0	0	0	0	26.94	26.95	26.94	10.58	39.17
447	-1.64	-244.4	1953	2282	2854	668	57.4	-11.3	69	453	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2282	2854	2854	687	0	0	0	0	0	0	26.96	26.96	26.97	10.58	38.62
484	-1.64	-244.4	1953	2282	2855	669	61.8	-12.1	75	490	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2281	2855	2855	685	0	0	0	0	0	0	26.97	26.98	26.98	10.58	39.60
520	-1.64	-244.4	1953	2281	2855	669	65.7	-10.6	81	527	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2855	2855	687	0	0	0	0	0	0	26.98	27.00	27.00	10.58	38.97
558	-1.64	-244.4	1953	2281	2856	670	69.5	-9.9	87	564	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2281	2856	2856	685	0	0	0	0	0	0	27.01	27.02	27.02	10.59	38.77
596	-1.64	-244.4	1953	2281	2857	668	73.3	-10.1	93	603	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2857	2857	687	0	0	0	0	0	0	27.02	27.03	27.03	10.58	39.17
634	-1.64	-244.4	1953	2281	2858	670	77.6	-11.4	99	640	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2282	2858	2858	685	0	0	0	0	0	0	27.03	27.05	27.05	10.59	38.97
670	-1.64	-244.4	1953	2282	2859	668	81.8	-11.1	105	677	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2282	2859	2859	687	0	0	0	0	0	0	27.05	27.06	27.06	10.59	39.48
708	-1.64	-244.4	1953	2281	2859	669	86.0	-11.5	111	714	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2859	2859	685	0	0	0	0	0	0	27.06	27.08	27.08	10.58	39.48
744	-1.64	-244.4	1953	2281	2860	668	90.1	-11.1	117	751	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2860	2860	686	0	0	0	0	0	0	27.07	27.09	27.08	10.59	39.60
781	-1.64	-244.4	1953	2282	2861	669	94.3	-11.0	123	787	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2281	2861	2861	685	0	0	0	0	0	0	27.08	27.10	27.10	10.59	39.09
818	-1.64	-244.4	1953	2282	2861	668	98.3	-11.0	129	824	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2282	2861	2861	687	0	0	0	0	0	0	27.10	27.11	27.11	10.59	39.13
840	end dive: TARGET_DEPTH_EXCEEDED
state	840	begin apogee
843	-0.39	0.0	1953	2281	2862	677	100.4	-10.9	132	869	4.40	0.00	16.30	4.944	10246	0.263	0.000	2355	2282	2549	2549	3961	0	0	0	0	0	0	26.76	26.07	24.89	10.59	39.72
870	end apogee: CONTROL_FINISHED_OK
state	870	begin climb
871	1.64	244.4	2355	2281	2549	882	102.5	0.0	136	901	8.05	0.00	15.32	4.852	10502	0.474	0.000	2989	2282	2260	2260	3823	1	0	0	0	0	0	25.79	25.32	24.48	10.52	39.32
933	1.64	244.4	2987	2282	2259	719	97.7	11.5	146	939	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2282	2259	2259	711	0	0	0	0	0	0	26.26	26.27	26.27	10.46	38.38
969	1.64	244.4	2988	2281	2258	684	93.1	12.1	152	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2259	2259	680	0	0	0	0	0	0	26.38	26.39	26.39	10.46	38.85
1006	1.64	244.4	2988	2282	2258	673	88.6	12.1	158	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2257	2257	671	0	0	0	0	0	0	26.46	26.48	26.48	10.45	39.44
1042	1.64	244.4	2988	2281	2256	660	83.9	12.9	164	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2282	2257	2257	659	0	0	0	0	0	0	26.53	26.55	26.54	10.45	39.17
1079	1.64	244.4	2988	2281	2255	655	79.1	13.6	170	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2282	2256	2256	654	0	0	0	0	0	0	26.59	26.60	26.60	10.45	39.21
1117	1.64	244.4	2988	2282	2255	647	74.5	12.1	176	1123	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2282	2255	2255	648	0	0	0	0	0	0	26.64	26.66	26.65	10.45	38.62
1154	1.64	244.4	2988	2281	2254	644	69.7	13.0	182	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2254	2254	645	0	0	0	0	0	0	26.69	26.70	26.70	10.45	38.62
1190	1.64	244.4	2988	2282	2253	639	64.8	13.1	188	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2253	2253	640	0	0	0	0	0	0	26.72	26.74	26.74	10.45	39.21
1227	1.64	244.4	2989	2281	2252	637	60.0	12.9	194	1233	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2252	2252	638	0	0	0	0	0	0	26.76	26.77	26.77	10.45	39.21
1263	1.64	244.4	2988	2282	2250	634	55.1	13.0	200	1269	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2281	2251	2251	635	0	0	0	0	0	0	26.79	26.81	26.81	10.44	39.48
1300	1.64	244.4	2988	2282	2249	632	50.5	12.7	206	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2282	2249	2249	633	0	0	0	0	0	0	26.82	26.84	26.84	10.44	39.28
1336	1.64	244.4	2988	2282	2249	629	46.2	11.5	212	1343	0.00	3.38	0.00	0.000	260	0.000	0.256	2989	3482	2248	2248	635	0	0	0	0	0	0	26.84	26.47	26.86	10.44	38.81
1434	1.64	244.4	2988	3483	2245	625	30.7	17.9	228	1441	0.00	3.10	0.00	0.000	1030	0.000	0.117	2989	2278	2246	2246	629	0	0	0	0	0	0	26.71	26.63	26.73	10.44	39.60
1472	1.64	244.4	2988	2278	2244	626	25.4	13.1	234	1478	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2277	2243	2243	628	0	0	0	0	0	0	26.93	26.94	26.94	10.43	39.25
1510	1.64	244.4	2988	2278	2243	624	20.5	13.2	240	1517	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2278	2243	2243	627	0	0	0	0	0	0	26.95	26.96	26.96	10.44	39.13
1547	1.64	244.4	2987	2278	2240	624	16.0	11.4	246	1554	0.00	3.22	0.00	0.000	516	0.000	0.211	2989	1077	2242	2242	630	0	0	0	0	0	0	26.97	26.60	26.98	10.43	39.25
1615	1.72	294.3	2988	1077	2240	623	10.0	8.7	257	1630	0.35	3.10	3.60	1.142	11270	0.638	0.134	3013	2284	2198	2198	4095	0	0	0	0	0	0	26.25	26.67	25.96	10.44	39.40
1661	1.72	294.3	3013	2284	2198	700	4.9	12.3	264	1668	0.00	3.33	0.00	0.000	260	0.000	0.248	3014	3479	2198	2198	696	0	0	0	0	0	0	26.98	26.60	26.99	10.43	39.56
1691	end climb: SURFACE_DEPTH_REACHED
state	1691	begin surface coast
1710	end surface coast: CONTROL_FINISHED_OK
state	1711	begin surface