Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 28 * 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 28 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 15 ALTIM_FREQUENCY 16

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 30 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 15 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 30 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 28 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 240217,185510,4744.0015,-12224.5703,3,0.8,15,16.3,0.0,0.0,10,4.4 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.000769,-0.224830

_SM_DEPTHo 1.44 KALMAN_X -210.771729,-484.961487,721.542908,426.762756,-57.099030

_SM_ANGLEo -63.9 KALMAN_Y 2838.979248,-751.483826,1509.941406,-672.878235,92.893860

GPS2 240217,185927,4744.0249,-12224.5674,5,0.9,16,16.3,0.0,0.0,9,5.0 MHEAD_RNG_PITCHd_Wd 163.9,2839,-15.0,-10.000,-23.98,2935

SPEED_LIMITS 0.084,0.225 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.1,1.006112 _24V_AH 23.88,4.299

SM_CCo 2829,0.00,0.000,0,0,1767,646.53 _10V_AH 9.54,4.700

SM_GC 1.40,30.25,0.15,0.00,0.024,0.079,0.000,243,2019,1767,-6.98,-0.96,646.53,0,0,0,0,0,0,26.27,26.34,26.35 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,180242 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.208222 MEM 322216

HUMID 30.35 DATA_FILE_SIZE 17692,216

INTERNAL_PRESSURE 9.24219 CAP_FILE_SIZE 53167,0

TCM_TEMP 7.00 CFSIZE 1024409600,1016774656

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

ALTIM_TOP_PING 19.7,5.0 GPS 240217,194827,4743.540,-12224.591,3,0.9,17,16.3,0.7,313.3,9,4.9

ALTIM_BOTTOM_PING 101.7,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 65 135 211.06 SBE_CT 145 24 83.11

Roll_motor 40 78 75.92 AA4330 277 33 218.35

VBD_pump_during_apogee 57 2008 2774.00 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1122 17 477.18

VBD_valve 0 0 0.00 SAT1001 1982 17 842.71

Iridium_during_init 24 103 59.57 nil 0 0 0.00

Iridium_during_connect 17 160 67.14 nil 0 0 0.00

Iridium_during_xfer 139 223 741.37 nil 0 0 0.00

Transponder_ping 0 420 7.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.32

TT8 597 19 112.95

LPSleep 60 2 1.25

TT8_Active 198 19 37.49

TT8_Sampling 2214 39 840.88

TT8_CF8 38 45 16.78

TT8_Kalman 33 81 26.10

Analog_circuits 766 12 87.72

GPS_charging 0 0 0.00

Compass 346 15 49.64

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.39 -195.5 231 1989 1827 4094 0.0 0.0 0 32 0.00 0.00 -6.12 0.000 16390 0.000 0.000 231 1989 2751 2751 4094 0 0 0 0 0 0 26.44 25.65 26.45 9.31 31.17

34 -1.39 -195.5 231 1989 2752 4094 1.5 0.0 1 63 22.90 0.00 0.00 0.000 2054 0.135 0.000 2021 1986 2755 2755 4094 0 0 0 0 0 0 25.79 25.91 25.86 9.50 31.33

123 -1.39 -195.5 2020 1986 2757 4094 28.8 -17.0 8 137 0.00 2.65 0.00 0.000 516 0.000 0.067 2021 1013 2757 2757 4095 0 0 0 0 0 0 26.28 25.91 26.29 9.51 30.94

174 -1.39 -195.5 2020 1013 2758 4094 36.5 -14.9 12 189 0.00 2.45 0.00 0.000 1030 0.000 0.034 2021 1974 2759 2759 4094 0 0 0 0 0 0 26.09 26.03 26.10 9.52 31.21

249 -1.39 -195.5 2020 1974 2761 4095 46.3 -12.6 18 263 0.00 0.00 0.00 0.000 6 0.000 0.000 2020 1974 2761 2761 4094 0 0 0 0 0 0 26.41 26.43 26.42 9.52 30.94

323 -1.39 -195.5 2020 1974 2762 4094 56.1 -13.5 24 337 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2763 2763 4094 0 0 0 0 0 0 26.47 26.48 26.48 9.52 30.98

397 -1.39 -195.5 2020 1974 2765 4094 66.4 -13.8 30 411 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2765 2765 4095 0 0 0 0 0 0 26.51 26.53 26.53 9.52 31.05

471 -1.39 -195.5 2020 1974 2766 4094 76.7 -13.7 36 485 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2767 2767 4095 0 0 0 0 0 0 26.55 26.57 26.58 9.52 30.78

546 -1.39 -195.5 2020 1974 2768 4094 86.5 -13.1 42 559 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2769 2769 4094 0 0 0 0 0 0 26.60 26.61 26.61 9.52 31.02

619 -1.39 -195.5 2020 1974 2770 4094 96.0 -13.0 48 633 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2770 2770 4094 0 0 0 0 0 0 26.63 26.64 26.64 9.52 31.29

697 -1.39 -195.5 2020 1974 2773 4094 107.5 -15.2 54 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1975 2773 2773 4095 0 0 0 0 0 0 26.65 26.67 26.67 9.53 30.90

771 -1.39 -195.5 2020 1974 2775 4094 118.0 -14.4 60 785 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1974 2776 2776 4095 0 0 0 0 0 0 26.68 26.70 26.70 9.53 31.02

845 -1.39 -195.5 2020 1974 2778 4094 128.7 -14.2 66 859 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1975 2778 2778 4094 0 0 0 0 0 0 26.71 26.72 26.72 9.53 31.29

919 -1.39 -195.5 2020 1975 2780 4094 138.7 -13.7 72 932 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 1975 2781 2781 4095 0 0 0 0 0 0 26.72 26.74 26.74 9.53 31.61

993 -1.39 -195.5 2020 1975 2783 4094 149.1 -14.1 78 1007 0.00 2.67 0.00 0.000 260 0.000 0.067 2020 2972 2783 2783 4094 0 0 0 0 0 0 26.74 26.36 26.76 9.53 30.98

1020 end dive: TARGET_DEPTH_EXCEEDED

state 1020 begin apogee

1026 -0.33 0.0 2020 1988 2784 4095 153.2 -14.5 80 1054 3.72 0.00 14.73 2.009 10244 0.073 0.000 2362 1988 2519 2519 4094 0 0 0 0 0 0 26.41 25.34 24.27 9.53 30.82

1055 end apogee: CONTROL_FINISHED_OK

state 1055 begin climb

1056 1.39 195.5 2362 1988 2519 4094 156.9 0.0 82 1085 5.75 0.00 13.20 1.973 11270 0.043 0.000 2906 1988 2291 2291 4094 0 0 0 0 0 0 25.91 26.10 23.88 9.47 31.33

1146 1.44 221.0 2905 1988 2290 4094 151.1 9.1 89 1161 0.10 0.00 3.35 0.917 10246 0.073 0.000 2921 1988 2262 2262 4094 0 0 0 0 0 0 25.76 25.13 24.09 9.44 30.82

1221 1.44 221.0 2921 1988 2261 4094 143.5 10.2 95 1235 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2260 2260 4095 0 0 0 0 0 0 26.08 26.10 26.10 9.43 30.78

1295 1.44 221.0 2921 1988 2258 4094 135.8 10.3 101 1309 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2258 2258 4094 0 0 0 0 0 0 26.22 26.23 26.23 9.43 30.70

1369 1.44 221.0 2921 1988 2256 4094 127.1 12.2 107 1383 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2256 2256 4094 0 0 0 0 0 0 26.31 26.32 26.32 9.43 30.54

1443 1.44 221.0 2921 1988 2255 4094 118.1 13.0 113 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2253 2253 4094 0 0 0 0 0 0 26.39 26.40 26.39 9.42 31.25

1517 1.44 221.0 2921 1988 2252 4094 109.5 10.5 119 1531 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2252 2252 4094 0 0 0 0 0 0 26.44 26.46 26.46 9.42 30.86

1591 1.44 221.0 2921 1988 2250 4094 101.3 11.4 125 1605 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1988 2250 2250 4094 0 0 0 0 0 0 26.49 26.51 26.51 9.42 30.82

1665 1.44 221.0 2921 1988 2248 4094 92.9 10.9 131 1679 0.00 2.62 0.00 0.000 516 0.000 0.071 2922 1014 2248 2248 4094 0 0 0 0 0 0 26.53 26.16 26.55 9.42 31.21

1728 1.44 221.0 2921 1014 2246 4094 85.8 11.3 136 1743 0.00 2.47 0.00 0.000 1030 0.000 0.032 2922 2003 2246 2246 4094 0 0 0 0 0 0 26.30 26.28 26.37 9.42 31.13

1803 1.44 221.0 2922 2003 2245 4094 78.1 10.1 142 1817 0.00 2.55 0.00 0.000 260 0.000 0.061 2922 2960 2245 2245 4094 0 0 0 0 0 0 26.60 26.25 26.61 9.42 31.37

1854 1.44 221.0 2921 2960 2243 4094 72.5 10.7 146 1869 0.00 2.45 0.00 0.000 1030 0.000 0.036 2922 2003 2243 2243 4094 0 0 0 0 0 0 26.36 26.30 26.39 9.42 30.98

1929 1.48 239.7 2922 2003 2242 4094 65.3 9.3 152 1944 0.00 2.65 0.00 0.000 516 0.000 0.072 2922 1012 2242 2242 4094 0 0 0 0 0 0 26.65 26.27 26.65 9.42 30.82

2062 1.48 239.7 2921 1012 2239 4094 51.6 10.9 163 2077 0.00 2.38 0.00 0.000 1030 0.000 0.031 2922 1969 2239 2239 4095 0 0 0 0 0 0 26.44 26.40 26.47 9.42 31.09

2137 1.48 239.7 2922 1969 2237 4094 43.5 10.9 169 2151 0.00 2.62 0.00 0.000 260 0.000 0.060 2922 2958 2237 2237 4094 0 0 0 0 0 0 26.71 26.35 26.72 9.42 31.05

2189 1.48 239.7 2921 2958 2235 4094 37.9 10.8 173 2203 0.00 2.55 0.00 0.000 1030 0.000 0.037 2922 1961 2236 2236 4094 0 0 0 0 0 0 26.45 26.40 26.49 9.42 31.09

2264 1.51 251.4 2922 1961 2234 4094 30.5 9.6 179 2279 0.15 2.55 2.38 0.177 10756 0.062 0.070 2943 1007 2224 2224 4095 0 0 0 0 0 0 26.51 26.03 25.42 9.41 30.94

2328 1.51 251.4 2943 1007 2222 4094 23.6 11.0 184 2343 0.00 2.30 0.00 0.000 1030 0.000 0.030 2944 1942 2222 2222 4095 0 0 0 0 0 0 26.52 26.46 26.53 9.41 30.82

2404 1.52 260.2 2943 1942 2221 4094 16.3 9.7 190 2419 0.00 2.50 2.22 0.109 8708 0.000 0.069 2944 1013 2213 2213 4094 0 0 0 0 0 0 26.76 26.10 25.58 9.41 30.90

2456 1.52 260.2 2943 1013 2212 4094 10.9 10.1 194 2471 0.00 2.25 0.00 0.000 1030 0.000 0.030 2944 1929 2212 2212 4094 0 0 0 0 0 0 26.52 26.48 26.55 9.41 30.74

2531 1.83 413.9 2943 1930 2211 4094 6.3 4.6 200 2547 1.00 0.00 9.18 0.584 10502 0.032 0.000 3049 1931 2034 2034 4094 0 0 0 0 0 0 26.54 26.25 25.63 9.41 30.78

2607 2.29 645.6 3048 1931 2034 4094 5.3 1.9 206 2636 1.40 0.00 12.77 0.610 10246 0.031 0.000 3194 1931 1768 1768 4094 0 0 0 0 0 0 26.46 25.94 25.53 9.37 30.94

2672 end climb: SURFACE_DEPTH_REACHED

state 2672 begin surface coast

2732 end surface coast: CONTROL_FINISHED_OK

state 2732 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	28	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	15	ALTIM_FREQUENCY	16
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	30	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	240217,185510,4744.0015,-12224.5703,3,0.8,15,16.3,0.0,0.0,10,4.4	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.000769,-0.224830
_SM_DEPTHo	1.44	KALMAN_X	-210.771729,-484.961487,721.542908,426.762756,-57.099030
_SM_ANGLEo	-63.9	KALMAN_Y	2838.979248,-751.483826,1509.941406,-672.878235,92.893860
GPS2	240217,185927,4744.0249,-12224.5674,5,0.9,16,16.3,0.0,0.0,9,5.0	MHEAD_RNG_PITCHd_Wd	163.9,2839,-15.0,-10.000,-23.98,2935
SPEED_LIMITS	0.084,0.225	D_GRID	174

FINISH	0.1,1.006112	_24V_AH	23.88,4.299
SM_CCo	2829,0.00,0.000,0,0,1767,646.53	_10V_AH	9.54,4.700
SM_GC	1.40,30.25,0.15,0.00,0.024,0.079,0.000,243,2019,1767,-6.98,-0.96,646.53,0,0,0,0,0,0,26.27,26.34,26.35	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,180242	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.208222	MEM	322216
HUMID	30.35	DATA_FILE_SIZE	17692,216
INTERNAL_PRESSURE	9.24219	CAP_FILE_SIZE	53167,0
TCM_TEMP	7.00	CFSIZE	1024409600,1016774656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.7,5.0	GPS	240217,194827,4743.540,-12224.591,3,0.9,17,16.3,0.7,313.3,9,4.9
ALTIM_BOTTOM_PING	101.7,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	65	135	211.06	SBE_CT	145	24	83.11
Roll_motor	40	78	75.92	AA4330	277	33	218.35
VBD_pump_during_apogee	57	2008	2774.00	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1122	17	477.18
VBD_valve	0	0	0.00	SAT1001	1982	17	842.71
Iridium_during_init	24	103	59.57	nil	0	0	0.00
Iridium_during_connect	17	160	67.14	nil	0	0	0.00
Iridium_during_xfer	139	223	741.37	nil	0	0	0.00
Transponder_ping	0	420	7.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.32
TT8	597	19	112.95
LPSleep	60	2	1.25
TT8_Active	198	19	37.49
TT8_Sampling	2214	39	840.88
TT8_CF8	38	45	16.78
TT8_Kalman	33	81	26.10
Analog_circuits	766	12	87.72
GPS_charging	0	0	0.00
Compass	346	15	49.64
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.39	-195.5	231	1989	1827	4094	0.0	0.0	0	32	0.00	0.00	-6.12	0.000	16390	0.000	0.000	231	1989	2751	2751	4094	0	0	0	0	0	0	26.44	25.65	26.45	9.31	31.17
34	-1.39	-195.5	231	1989	2752	4094	1.5	0.0	1	63	22.90	0.00	0.00	0.000	2054	0.135	0.000	2021	1986	2755	2755	4094	0	0	0	0	0	0	25.79	25.91	25.86	9.50	31.33
123	-1.39	-195.5	2020	1986	2757	4094	28.8	-17.0	8	137	0.00	2.65	0.00	0.000	516	0.000	0.067	2021	1013	2757	2757	4095	0	0	0	0	0	0	26.28	25.91	26.29	9.51	30.94
174	-1.39	-195.5	2020	1013	2758	4094	36.5	-14.9	12	189	0.00	2.45	0.00	0.000	1030	0.000	0.034	2021	1974	2759	2759	4094	0	0	0	0	0	0	26.09	26.03	26.10	9.52	31.21
249	-1.39	-195.5	2020	1974	2761	4095	46.3	-12.6	18	263	0.00	0.00	0.00	0.000	6	0.000	0.000	2020	1974	2761	2761	4094	0	0	0	0	0	0	26.41	26.43	26.42	9.52	30.94
323	-1.39	-195.5	2020	1974	2762	4094	56.1	-13.5	24	337	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2763	2763	4094	0	0	0	0	0	0	26.47	26.48	26.48	9.52	30.98
397	-1.39	-195.5	2020	1974	2765	4094	66.4	-13.8	30	411	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2765	2765	4095	0	0	0	0	0	0	26.51	26.53	26.53	9.52	31.05
471	-1.39	-195.5	2020	1974	2766	4094	76.7	-13.7	36	485	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2767	2767	4095	0	0	0	0	0	0	26.55	26.57	26.58	9.52	30.78
546	-1.39	-195.5	2020	1974	2768	4094	86.5	-13.1	42	559	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2769	2769	4094	0	0	0	0	0	0	26.60	26.61	26.61	9.52	31.02
619	-1.39	-195.5	2020	1974	2770	4094	96.0	-13.0	48	633	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2770	2770	4094	0	0	0	0	0	0	26.63	26.64	26.64	9.52	31.29
697	-1.39	-195.5	2020	1974	2773	4094	107.5	-15.2	54	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1975	2773	2773	4095	0	0	0	0	0	0	26.65	26.67	26.67	9.53	30.90
771	-1.39	-195.5	2020	1974	2775	4094	118.0	-14.4	60	785	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1974	2776	2776	4095	0	0	0	0	0	0	26.68	26.70	26.70	9.53	31.02
845	-1.39	-195.5	2020	1974	2778	4094	128.7	-14.2	66	859	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1975	2778	2778	4094	0	0	0	0	0	0	26.71	26.72	26.72	9.53	31.29
919	-1.39	-195.5	2020	1975	2780	4094	138.7	-13.7	72	932	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	1975	2781	2781	4095	0	0	0	0	0	0	26.72	26.74	26.74	9.53	31.61
993	-1.39	-195.5	2020	1975	2783	4094	149.1	-14.1	78	1007	0.00	2.67	0.00	0.000	260	0.000	0.067	2020	2972	2783	2783	4094	0	0	0	0	0	0	26.74	26.36	26.76	9.53	30.98
1020	end dive: TARGET_DEPTH_EXCEEDED
state	1020	begin apogee
1026	-0.33	0.0	2020	1988	2784	4095	153.2	-14.5	80	1054	3.72	0.00	14.73	2.009	10244	0.073	0.000	2362	1988	2519	2519	4094	0	0	0	0	0	0	26.41	25.34	24.27	9.53	30.82
1055	end apogee: CONTROL_FINISHED_OK
state	1055	begin climb
1056	1.39	195.5	2362	1988	2519	4094	156.9	0.0	82	1085	5.75	0.00	13.20	1.973	11270	0.043	0.000	2906	1988	2291	2291	4094	0	0	0	0	0	0	25.91	26.10	23.88	9.47	31.33
1146	1.44	221.0	2905	1988	2290	4094	151.1	9.1	89	1161	0.10	0.00	3.35	0.917	10246	0.073	0.000	2921	1988	2262	2262	4094	0	0	0	0	0	0	25.76	25.13	24.09	9.44	30.82
1221	1.44	221.0	2921	1988	2261	4094	143.5	10.2	95	1235	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2260	2260	4095	0	0	0	0	0	0	26.08	26.10	26.10	9.43	30.78
1295	1.44	221.0	2921	1988	2258	4094	135.8	10.3	101	1309	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2258	2258	4094	0	0	0	0	0	0	26.22	26.23	26.23	9.43	30.70
1369	1.44	221.0	2921	1988	2256	4094	127.1	12.2	107	1383	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2256	2256	4094	0	0	0	0	0	0	26.31	26.32	26.32	9.43	30.54
1443	1.44	221.0	2921	1988	2255	4094	118.1	13.0	113	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2253	2253	4094	0	0	0	0	0	0	26.39	26.40	26.39	9.42	31.25
1517	1.44	221.0	2921	1988	2252	4094	109.5	10.5	119	1531	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2252	2252	4094	0	0	0	0	0	0	26.44	26.46	26.46	9.42	30.86
1591	1.44	221.0	2921	1988	2250	4094	101.3	11.4	125	1605	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1988	2250	2250	4094	0	0	0	0	0	0	26.49	26.51	26.51	9.42	30.82
1665	1.44	221.0	2921	1988	2248	4094	92.9	10.9	131	1679	0.00	2.62	0.00	0.000	516	0.000	0.071	2922	1014	2248	2248	4094	0	0	0	0	0	0	26.53	26.16	26.55	9.42	31.21
1728	1.44	221.0	2921	1014	2246	4094	85.8	11.3	136	1743	0.00	2.47	0.00	0.000	1030	0.000	0.032	2922	2003	2246	2246	4094	0	0	0	0	0	0	26.30	26.28	26.37	9.42	31.13
1803	1.44	221.0	2922	2003	2245	4094	78.1	10.1	142	1817	0.00	2.55	0.00	0.000	260	0.000	0.061	2922	2960	2245	2245	4094	0	0	0	0	0	0	26.60	26.25	26.61	9.42	31.37
1854	1.44	221.0	2921	2960	2243	4094	72.5	10.7	146	1869	0.00	2.45	0.00	0.000	1030	0.000	0.036	2922	2003	2243	2243	4094	0	0	0	0	0	0	26.36	26.30	26.39	9.42	30.98
1929	1.48	239.7	2922	2003	2242	4094	65.3	9.3	152	1944	0.00	2.65	0.00	0.000	516	0.000	0.072	2922	1012	2242	2242	4094	0	0	0	0	0	0	26.65	26.27	26.65	9.42	30.82
2062	1.48	239.7	2921	1012	2239	4094	51.6	10.9	163	2077	0.00	2.38	0.00	0.000	1030	0.000	0.031	2922	1969	2239	2239	4095	0	0	0	0	0	0	26.44	26.40	26.47	9.42	31.09
2137	1.48	239.7	2922	1969	2237	4094	43.5	10.9	169	2151	0.00	2.62	0.00	0.000	260	0.000	0.060	2922	2958	2237	2237	4094	0	0	0	0	0	0	26.71	26.35	26.72	9.42	31.05
2189	1.48	239.7	2921	2958	2235	4094	37.9	10.8	173	2203	0.00	2.55	0.00	0.000	1030	0.000	0.037	2922	1961	2236	2236	4094	0	0	0	0	0	0	26.45	26.40	26.49	9.42	31.09
2264	1.51	251.4	2922	1961	2234	4094	30.5	9.6	179	2279	0.15	2.55	2.38	0.177	10756	0.062	0.070	2943	1007	2224	2224	4095	0	0	0	0	0	0	26.51	26.03	25.42	9.41	30.94
2328	1.51	251.4	2943	1007	2222	4094	23.6	11.0	184	2343	0.00	2.30	0.00	0.000	1030	0.000	0.030	2944	1942	2222	2222	4095	0	0	0	0	0	0	26.52	26.46	26.53	9.41	30.82
2404	1.52	260.2	2943	1942	2221	4094	16.3	9.7	190	2419	0.00	2.50	2.22	0.109	8708	0.000	0.069	2944	1013	2213	2213	4094	0	0	0	0	0	0	26.76	26.10	25.58	9.41	30.90
2456	1.52	260.2	2943	1013	2212	4094	10.9	10.1	194	2471	0.00	2.25	0.00	0.000	1030	0.000	0.030	2944	1929	2212	2212	4094	0	0	0	0	0	0	26.52	26.48	26.55	9.41	30.74
2531	1.83	413.9	2943	1930	2211	4094	6.3	4.6	200	2547	1.00	0.00	9.18	0.584	10502	0.032	0.000	3049	1931	2034	2034	4094	0	0	0	0	0	0	26.54	26.25	25.63	9.41	30.78
2607	2.29	645.6	3048	1931	2034	4094	5.3	1.9	206	2636	1.40	0.00	12.77	0.610	10246	0.031	0.000	3194	1931	1768	1768	4094	0	0	0	0	0	0	26.46	25.94	25.53	9.37	30.94
2672	end climb: SURFACE_DEPTH_REACHED
state	2672	begin surface coast
2732	end surface coast: CONTROL_FINISHED_OK
state	2732	begin surface