Glider dive log

Shilshole 02May17 * SG402 * Dive index * Mission links * Dive 30 * 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 30 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 24 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 12 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 24 VBD_MAX 4045

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 12 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 30 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 030517,125812,4743.5415,-12224.3975,3,1.1,24,16.3,0.0,0.0,9,8.6 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177469,-0.229844

_SM_DEPTHo 1.25 KALMAN_X -3518.877441,27.540102,212.935837,3775.449219,279.876465

_SM_ANGLEo -51.3 KALMAN_Y 205.686249,-1564.553955,439.527893,2250.737305,198.552704

GPS2 030517,130227,4743.5601,-12224.3594,6,0.9,15,16.3,0.0,0.0,10,8.6 MHEAD_RNG_PITCHd_Wd 176.9,2039,-16.2,-10.101,-19.18,3655

SPEED_LIMITS 0.101,0.290 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.3,1.020838 _24V_AH 24.43,4.465

SM_CCo 1750,6.00,1.472,0,0,2135,350.20 _10V_AH 10.56,2.331

SM_GC 2.25,26.80,0.00,6.00,0.099,0.000,1.472,354,2286,2135,-6.65,0.32,350.20,0,0,0,0,0,0,26.77,27.04,26.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,030517,125900 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.104111 MEM 323544

HUMID 39.25 DATA_FILE_SIZE 10551,274

INTERNAL_PRESSURE 10.352 CAP_FILE_SIZE 53755,0

TCM_TEMP 9.40 CFSIZE 1024409600,1018871808

XPDR_PINGS 15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,9,0,0,1,0

ALTIM_TOP_PING 19.7,19.6 CURRENT 0.026,179.25,1

ALTIM_BOTTOM_PING 100.4,86.7 GPS 030517,133355,4743.268,-12224.418,12,0.9,34,16.3,0.0,0.0,10,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 64 1030 1619.93 SBE_CT 182 24 106.75

Roll_motor 19 255 120.12 nil 0 0 0.00

VBD_pump_during_apogee 31 4968 3835.61 nil 0 0 0.00

VBD_pump_during_surface 6 1472 215.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 72.84 nil 0 0 0.00

Iridium_during_connect 20 160 79.98 nil 0 0 0.00

Iridium_during_xfer 131 223 718.67 nil 0 0 0.00

Transponder_ping 4 420 46.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.90

TT8 732 19 153.18

LPSleep 419 2 9.70

TT8_Active 245 19 51.39

TT8_Sampling 611 39 256.89

TT8_CF8 31 45 15.03

TT8_Kalman 33 81 28.91

Analog_circuits 539 12 68.42

GPS_charging 0 0 0.00

Compass 404 5 21.37

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.64 -244.4 369 2267 2134 764 0.0 0.0 0 26 0.00 0.00 -6.05 0.000 16390 0.000 0.000 369 2266 2843 2843 810 0 0 0 0 0 0 26.78 25.51 26.79 10.41 39.13

27 -1.64 -244.4 369 2267 2843 809 1.3 0.0 1 52 20.10 0.00 0.00 0.000 2566 0.469 0.000 1954 2266 2844 2844 830 0 0 0 0 0 0 26.29 26.46 26.43 10.58 40.07

83 -1.64 -244.4 1953 2266 2845 712 13.2 -16.0 10 89 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2266 2846 2846 723 0 0 0 0 0 0 26.72 26.74 26.73 10.58 39.72

120 -1.64 -244.4 1953 2266 2846 684 17.8 -12.3 16 126 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2266 2847 2847 697 0 0 0 0 0 0 26.76 26.77 26.77 10.58 39.76

157 -1.64 -244.4 1953 2266 2847 684 22.3 -11.9 22 162 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2266 2848 2848 698 0 0 0 0 0 0 26.79 26.81 26.81 10.58 39.84

193 -1.64 -244.4 1953 2266 2848 676 26.7 -12.0 28 199 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2266 2849 2849 690 0 0 0 0 0 0 26.82 26.84 26.84 10.58 39.64

230 -1.64 -244.4 1953 2266 2849 678 31.2 -12.2 34 236 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2266 2849 2849 692 0 0 0 0 0 0 26.85 26.86 26.86 10.58 39.48

267 -1.64 -244.4 1953 2266 2850 673 35.6 -11.7 40 273 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2266 2850 2850 688 0 0 0 0 0 0 26.88 26.89 26.89 10.58 38.62

304 -1.64 -244.4 1953 2266 2851 677 40.0 -12.1 46 311 0.00 3.20 0.00 0.000 516 0.000 0.204 1954 1079 2851 2851 695 0 0 0 0 0 0 26.90 26.54 26.91 10.58 39.13

402 -1.64 -244.4 1953 1080 2853 660 53.6 -14.1 62 409 0.00 3.10 0.00 0.000 1030 0.000 0.134 1953 2283 2854 2854 680 0 0 0 0 0 0 26.74 26.63 26.77 10.57 39.60

439 -1.64 -244.4 1953 2283 2854 665 58.5 -12.5 68 445 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2855 2855 681 0 0 0 0 0 0 26.96 26.98 26.98 10.58 39.17

476 -1.64 -244.4 1953 2283 2855 673 62.9 -12.1 74 482 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2855 2855 688 0 0 0 0 0 0 26.99 27.01 27.00 10.58 39.09

512 -1.64 -244.4 1953 2283 2856 671 67.3 -12.2 80 518 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2856 2856 686 0 0 0 0 0 0 27.00 27.01 27.01 10.58 39.52

549 -1.64 -244.4 1953 2283 2857 676 71.7 -11.9 86 555 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2857 2857 691 0 0 0 0 0 0 27.02 27.03 27.03 10.58 39.13

586 -1.64 -244.4 1953 2283 2858 672 75.9 -11.6 92 592 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2858 2858 688 0 0 0 0 0 0 27.03 27.05 27.04 10.58 39.44

624 -1.64 -244.4 1953 2283 2858 676 79.9 -10.8 98 630 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2859 2859 692 0 0 0 0 0 0 27.05 27.06 27.06 10.57 39.25

660 -1.64 -244.4 1953 2283 2859 673 84.2 -11.3 104 666 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2859 2859 688 0 0 0 0 0 0 27.05 27.08 27.07 10.58 39.76

697 -1.64 -244.4 1953 2283 2860 677 88.1 -10.7 110 703 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2860 2860 692 0 0 0 0 0 0 27.07 27.08 27.08 10.58 39.01

734 -1.64 -244.4 1953 2283 2861 672 91.7 -9.8 116 740 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2861 2861 688 0 0 0 0 0 0 27.08 27.10 27.09 10.58 39.25

771 -1.64 -244.4 1953 2283 2861 677 95.6 -10.5 122 777 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2861 2861 692 0 0 0 0 0 0 27.09 27.11 27.10 10.58 38.62

807 -1.64 -244.4 1953 2283 2862 673 99.8 -11.4 128 818 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2283 2862 2862 701 0 0 0 0 0 0 27.10 27.12 27.12 10.58 39.32

823 end dive: TARGET_DEPTH_EXCEEDED

state 823 begin apogee

826 -0.39 0.0 1953 2283 2863 703 101.8 -11.6 130 852 4.40 0.00 16.30 4.968 10246 0.261 0.000 2355 2284 2548 2548 3947 0 0 0 0 0 0 26.77 26.08 24.89 10.58 39.01

853 end apogee: CONTROL_FINISHED_OK

state 853 begin climb

855 1.64 244.4 2356 2284 2548 882 103.4 0.0 134 887 13.05 0.00 15.30 4.864 10502 1.030 0.000 2989 2283 2261 2261 4095 9 0 0 0 0 0 25.77 25.57 24.43 10.51 39.01

917 1.64 244.4 2988 2283 2260 706 98.5 11.0 144 924 0.00 3.45 0.00 0.000 260 0.000 0.256 2989 3482 2261 2261 704 0 0 0 0 0 0 26.22 25.86 26.22 10.45 39.13

1015 1.64 244.4 2988 3481 2257 675 83.1 16.9 160 1022 0.00 3.15 0.00 0.000 1030 0.000 0.117 2989 2278 2257 2257 673 0 0 0 0 0 0 26.29 26.21 26.32 10.44 38.89

1053 1.64 244.4 2988 2278 2256 667 77.5 14.8 166 1059 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2256 2256 665 0 0 0 0 0 0 26.55 26.56 26.56 10.44 39.01

1090 1.64 244.4 2989 2278 2255 656 73.1 11.8 172 1096 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2254 2254 655 0 0 0 0 0 0 26.60 26.62 26.62 10.44 39.64

1128 1.64 244.4 2988 2277 2254 651 68.6 12.4 178 1134 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2254 2254 651 0 0 0 0 0 0 26.65 26.67 26.67 10.44 39.48

1164 1.64 244.4 2988 2277 2253 645 64.1 11.4 184 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2253 2253 645 0 0 0 0 0 0 26.70 26.71 26.71 10.44 39.28

1201 1.64 244.4 2989 2277 2253 641 59.8 11.8 190 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2252 2252 642 0 0 0 0 0 0 26.74 26.75 26.75 10.44 39.72

1237 1.64 244.4 2988 2277 2251 637 55.5 12.0 196 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2278 2251 2251 638 0 0 0 0 0 0 26.77 26.79 26.78 10.44 39.52

1274 1.64 244.4 2988 2277 2251 635 51.2 11.6 202 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2251 2251 636 0 0 0 0 0 0 26.80 26.81 26.82 10.44 39.80

1311 1.64 244.4 2988 2277 2250 632 46.9 12.0 208 1317 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2249 2249 634 0 0 0 0 0 0 26.82 26.84 26.84 10.44 39.25

1347 1.64 244.4 2988 2277 2248 630 42.4 12.2 214 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2248 2248 632 0 0 0 0 0 0 26.86 26.87 26.86 10.43 39.05

1384 1.64 244.4 2988 2277 2247 628 38.0 11.9 220 1390 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2277 2247 2247 630 0 0 0 0 0 0 26.88 26.90 26.89 10.43 39.32

1422 1.64 244.4 2988 2277 2247 627 33.6 11.9 226 1428 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2246 2246 629 0 0 0 0 0 0 26.90 26.92 26.91 10.43 39.48

1458 1.64 244.4 2988 2277 2246 625 29.3 11.5 232 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2245 2245 628 0 0 0 0 0 0 26.92 26.94 26.94 10.44 39.01

1495 1.64 244.4 2988 2277 2246 625 25.3 10.8 238 1501 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2245 2245 627 0 0 0 0 0 0 26.94 26.96 26.96 10.43 39.95

1532 1.64 244.4 2988 2277 2244 623 21.1 11.8 244 1538 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2277 2243 2243 626 0 0 0 0 0 0 26.96 26.98 26.98 10.43 39.84

1569 1.64 244.4 2988 2276 2242 622 16.6 12.4 250 1576 0.00 3.22 0.00 0.000 516 0.000 0.216 2989 1076 2243 2243 628 0 0 0 0 0 0 26.98 26.62 26.99 10.43 39.56

1630 1.64 244.4 2988 1076 2241 621 8.7 12.8 260 1637 0.00 3.10 0.00 0.000 1030 0.000 0.129 2989 2285 2241 2241 627 0 0 0 0 0 0 26.79 26.68 26.82 10.43 39.40

1668 1.64 244.4 2988 2285 2240 623 4.7 10.3 266 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2285 2239 2239 626 0 0 0 0 0 0 27.02 27.03 27.03 10.43 39.88

1697 end climb: SURFACE_DEPTH_REACHED

state 1698 begin surface coast

1718 end surface coast: CONTROL_FINISHED_OK

state 1718 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	30	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	24	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	12	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	030517,125812,4743.5415,-12224.3975,3,1.1,24,16.3,0.0,0.0,9,8.6	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177469,-0.229844
_SM_DEPTHo	1.25	KALMAN_X	-3518.877441,27.540102,212.935837,3775.449219,279.876465
_SM_ANGLEo	-51.3	KALMAN_Y	205.686249,-1564.553955,439.527893,2250.737305,198.552704
GPS2	030517,130227,4743.5601,-12224.3594,6,0.9,15,16.3,0.0,0.0,10,8.6	MHEAD_RNG_PITCHd_Wd	176.9,2039,-16.2,-10.101,-19.18,3655
SPEED_LIMITS	0.101,0.290	D_GRID	174

FINISH	0.3,1.020838	_24V_AH	24.43,4.465
SM_CCo	1750,6.00,1.472,0,0,2135,350.20	_10V_AH	10.56,2.331
SM_GC	2.25,26.80,0.00,6.00,0.099,0.000,1.472,354,2286,2135,-6.65,0.32,350.20,0,0,0,0,0,0,26.77,27.04,26.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,030517,125900	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.104111	MEM	323544
HUMID	39.25	DATA_FILE_SIZE	10551,274
INTERNAL_PRESSURE	10.352	CAP_FILE_SIZE	53755,0
TCM_TEMP	9.40	CFSIZE	1024409600,1018871808
XPDR_PINGS	15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,9,0,0,1,0
ALTIM_TOP_PING	19.7,19.6	CURRENT	0.026,179.25,1
ALTIM_BOTTOM_PING	100.4,86.7	GPS	030517,133355,4743.268,-12224.418,12,0.9,34,16.3,0.0,0.0,10,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	64	1030	1619.93	SBE_CT	182	24	106.75
Roll_motor	19	255	120.12	nil	0	0	0.00
VBD_pump_during_apogee	31	4968	3835.61	nil	0	0	0.00
VBD_pump_during_surface	6	1472	215.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	72.84	nil	0	0	0.00
Iridium_during_connect	20	160	79.98	nil	0	0	0.00
Iridium_during_xfer	131	223	718.67	nil	0	0	0.00
Transponder_ping	4	420	46.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.90
TT8	732	19	153.18
LPSleep	419	2	9.70
TT8_Active	245	19	51.39
TT8_Sampling	611	39	256.89
TT8_CF8	31	45	15.03
TT8_Kalman	33	81	28.91
Analog_circuits	539	12	68.42
GPS_charging	0	0	0.00
Compass	404	5	21.37
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.64	-244.4	369	2267	2134	764	0.0	0.0	0	26	0.00	0.00	-6.05	0.000	16390	0.000	0.000	369	2266	2843	2843	810	0	0	0	0	0	0	26.78	25.51	26.79	10.41	39.13
27	-1.64	-244.4	369	2267	2843	809	1.3	0.0	1	52	20.10	0.00	0.00	0.000	2566	0.469	0.000	1954	2266	2844	2844	830	0	0	0	0	0	0	26.29	26.46	26.43	10.58	40.07
83	-1.64	-244.4	1953	2266	2845	712	13.2	-16.0	10	89	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2266	2846	2846	723	0	0	0	0	0	0	26.72	26.74	26.73	10.58	39.72
120	-1.64	-244.4	1953	2266	2846	684	17.8	-12.3	16	126	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2266	2847	2847	697	0	0	0	0	0	0	26.76	26.77	26.77	10.58	39.76
157	-1.64	-244.4	1953	2266	2847	684	22.3	-11.9	22	162	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2266	2848	2848	698	0	0	0	0	0	0	26.79	26.81	26.81	10.58	39.84
193	-1.64	-244.4	1953	2266	2848	676	26.7	-12.0	28	199	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2266	2849	2849	690	0	0	0	0	0	0	26.82	26.84	26.84	10.58	39.64
230	-1.64	-244.4	1953	2266	2849	678	31.2	-12.2	34	236	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2266	2849	2849	692	0	0	0	0	0	0	26.85	26.86	26.86	10.58	39.48
267	-1.64	-244.4	1953	2266	2850	673	35.6	-11.7	40	273	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2266	2850	2850	688	0	0	0	0	0	0	26.88	26.89	26.89	10.58	38.62
304	-1.64	-244.4	1953	2266	2851	677	40.0	-12.1	46	311	0.00	3.20	0.00	0.000	516	0.000	0.204	1954	1079	2851	2851	695	0	0	0	0	0	0	26.90	26.54	26.91	10.58	39.13
402	-1.64	-244.4	1953	1080	2853	660	53.6	-14.1	62	409	0.00	3.10	0.00	0.000	1030	0.000	0.134	1953	2283	2854	2854	680	0	0	0	0	0	0	26.74	26.63	26.77	10.57	39.60
439	-1.64	-244.4	1953	2283	2854	665	58.5	-12.5	68	445	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2855	2855	681	0	0	0	0	0	0	26.96	26.98	26.98	10.58	39.17
476	-1.64	-244.4	1953	2283	2855	673	62.9	-12.1	74	482	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2855	2855	688	0	0	0	0	0	0	26.99	27.01	27.00	10.58	39.09
512	-1.64	-244.4	1953	2283	2856	671	67.3	-12.2	80	518	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2856	2856	686	0	0	0	0	0	0	27.00	27.01	27.01	10.58	39.52
549	-1.64	-244.4	1953	2283	2857	676	71.7	-11.9	86	555	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2857	2857	691	0	0	0	0	0	0	27.02	27.03	27.03	10.58	39.13
586	-1.64	-244.4	1953	2283	2858	672	75.9	-11.6	92	592	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2858	2858	688	0	0	0	0	0	0	27.03	27.05	27.04	10.58	39.44
624	-1.64	-244.4	1953	2283	2858	676	79.9	-10.8	98	630	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2859	2859	692	0	0	0	0	0	0	27.05	27.06	27.06	10.57	39.25
660	-1.64	-244.4	1953	2283	2859	673	84.2	-11.3	104	666	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2859	2859	688	0	0	0	0	0	0	27.05	27.08	27.07	10.58	39.76
697	-1.64	-244.4	1953	2283	2860	677	88.1	-10.7	110	703	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2860	2860	692	0	0	0	0	0	0	27.07	27.08	27.08	10.58	39.01
734	-1.64	-244.4	1953	2283	2861	672	91.7	-9.8	116	740	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2861	2861	688	0	0	0	0	0	0	27.08	27.10	27.09	10.58	39.25
771	-1.64	-244.4	1953	2283	2861	677	95.6	-10.5	122	777	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2861	2861	692	0	0	0	0	0	0	27.09	27.11	27.10	10.58	38.62
807	-1.64	-244.4	1953	2283	2862	673	99.8	-11.4	128	818	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2283	2862	2862	701	0	0	0	0	0	0	27.10	27.12	27.12	10.58	39.32
823	end dive: TARGET_DEPTH_EXCEEDED
state	823	begin apogee
826	-0.39	0.0	1953	2283	2863	703	101.8	-11.6	130	852	4.40	0.00	16.30	4.968	10246	0.261	0.000	2355	2284	2548	2548	3947	0	0	0	0	0	0	26.77	26.08	24.89	10.58	39.01
853	end apogee: CONTROL_FINISHED_OK
state	853	begin climb
855	1.64	244.4	2356	2284	2548	882	103.4	0.0	134	887	13.05	0.00	15.30	4.864	10502	1.030	0.000	2989	2283	2261	2261	4095	9	0	0	0	0	0	25.77	25.57	24.43	10.51	39.01
917	1.64	244.4	2988	2283	2260	706	98.5	11.0	144	924	0.00	3.45	0.00	0.000	260	0.000	0.256	2989	3482	2261	2261	704	0	0	0	0	0	0	26.22	25.86	26.22	10.45	39.13
1015	1.64	244.4	2988	3481	2257	675	83.1	16.9	160	1022	0.00	3.15	0.00	0.000	1030	0.000	0.117	2989	2278	2257	2257	673	0	0	0	0	0	0	26.29	26.21	26.32	10.44	38.89
1053	1.64	244.4	2988	2278	2256	667	77.5	14.8	166	1059	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2256	2256	665	0	0	0	0	0	0	26.55	26.56	26.56	10.44	39.01
1090	1.64	244.4	2989	2278	2255	656	73.1	11.8	172	1096	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2254	2254	655	0	0	0	0	0	0	26.60	26.62	26.62	10.44	39.64
1128	1.64	244.4	2988	2277	2254	651	68.6	12.4	178	1134	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2254	2254	651	0	0	0	0	0	0	26.65	26.67	26.67	10.44	39.48
1164	1.64	244.4	2988	2277	2253	645	64.1	11.4	184	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2253	2253	645	0	0	0	0	0	0	26.70	26.71	26.71	10.44	39.28
1201	1.64	244.4	2989	2277	2253	641	59.8	11.8	190	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2252	2252	642	0	0	0	0	0	0	26.74	26.75	26.75	10.44	39.72
1237	1.64	244.4	2988	2277	2251	637	55.5	12.0	196	1243	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2278	2251	2251	638	0	0	0	0	0	0	26.77	26.79	26.78	10.44	39.52
1274	1.64	244.4	2988	2277	2251	635	51.2	11.6	202	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2251	2251	636	0	0	0	0	0	0	26.80	26.81	26.82	10.44	39.80
1311	1.64	244.4	2988	2277	2250	632	46.9	12.0	208	1317	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2249	2249	634	0	0	0	0	0	0	26.82	26.84	26.84	10.44	39.25
1347	1.64	244.4	2988	2277	2248	630	42.4	12.2	214	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2248	2248	632	0	0	0	0	0	0	26.86	26.87	26.86	10.43	39.05
1384	1.64	244.4	2988	2277	2247	628	38.0	11.9	220	1390	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2277	2247	2247	630	0	0	0	0	0	0	26.88	26.90	26.89	10.43	39.32
1422	1.64	244.4	2988	2277	2247	627	33.6	11.9	226	1428	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2246	2246	629	0	0	0	0	0	0	26.90	26.92	26.91	10.43	39.48
1458	1.64	244.4	2988	2277	2246	625	29.3	11.5	232	1464	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2245	2245	628	0	0	0	0	0	0	26.92	26.94	26.94	10.44	39.01
1495	1.64	244.4	2988	2277	2246	625	25.3	10.8	238	1501	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2245	2245	627	0	0	0	0	0	0	26.94	26.96	26.96	10.43	39.95
1532	1.64	244.4	2988	2277	2244	623	21.1	11.8	244	1538	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2277	2243	2243	626	0	0	0	0	0	0	26.96	26.98	26.98	10.43	39.84
1569	1.64	244.4	2988	2276	2242	622	16.6	12.4	250	1576	0.00	3.22	0.00	0.000	516	0.000	0.216	2989	1076	2243	2243	628	0	0	0	0	0	0	26.98	26.62	26.99	10.43	39.56
1630	1.64	244.4	2988	1076	2241	621	8.7	12.8	260	1637	0.00	3.10	0.00	0.000	1030	0.000	0.129	2989	2285	2241	2241	627	0	0	0	0	0	0	26.79	26.68	26.82	10.43	39.40
1668	1.64	244.4	2988	2285	2240	623	4.7	10.3	266	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2285	2239	2239	626	0	0	0	0	0	0	27.02	27.03	27.03	10.43	39.88
1697	end climb: SURFACE_DEPTH_REACHED
state	1698	begin surface coast
1718	end surface coast: CONTROL_FINISHED_OK
state	1718	begin surface