Glider dive log

Shilshole 30Apr18 * SG401 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 2065 ALTIM_TOP_TURN_MARGIN 0

MISSION 25 HEADING -1 C_ROLL_CLIMB 2065 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 120

N_DIVES 30 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 2

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 5650 R_PORT_OVSHOOT 15 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 30 ALTIM_SENSITIVITY 3

D_TGT 90 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 XPDR_VALID 4

D_ABORT 200 SM_CC 350 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 4 ROLL_ADJ_GAIN 1 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT -1.1

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 234 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3400 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2400 DEVICE1 -1

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.92339998 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 30 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 40 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 6 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 50945 W_ADJ_DBAND 0 COMPASS_DEVICE 97

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY -6 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 4 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 100 SIM_W 0

D_OFFGRID 100 PITCH_MIN 220 MINV_24V 19 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3693 MINV_10V 8 SEABIRD_T_G 0.0044153114

RELAUNCH 0 C_PITCH 2350 MAXI_24V 0.60000002 SEABIRD_T_H 0.00064861565

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.6621732e-05

MAX_BUOY 500 PITCH_CNV 0.00312576 FG_AHR_10V 0 SEABIRD_T_J 3.3947326e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.162049

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 18 PRESSURE_YINT -51.021927 SEABIRD_C_I -0.0032838252

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 73949 PITCH_AD_RATE 70 AD7714Ch0Gain 1 SEABIRD_C_Z 2991.02

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 SC_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0040000002 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 15

HD_B 0.012 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 90 PITCH_CNV 0.00312576 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3693 STOP_T 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 2 FG_AHR_24V 0 PITCH_MIN 220 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 120 FILEMGR 0 PITCH_TIMEOUT 50 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 7 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 15 HD_A 0.0040000002 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PRESSURE_YINT -51.021927 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 5.7000002e-06 PROTOCOL 9 TGT_DEFAULT_LON -16401

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 10 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 30

CAPMAXSIZE 200000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 1 ID 401 RAFOS_HIT_WINDOW 3600 T_GPS 5

CF8_MAXERRORS 4 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_MMODEM 0 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 40

COMPASS2_DEVICE -1 KALMAN_USE 1 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.023 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 T_TURN 225

C_PITCH 2350 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2065 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2065 MASS 73949 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 2400 MASS_COMP 0 ROLL_MAX 3888 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 USE_BATHY -6

DEEPGLIDER 2 MAXI_24V 0.60000002 ROLL_MIN 200 USE_ICE 0

DEVICE1 -1 MAX_BUOY 500 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 15 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 30 VBD_DBAND 2

DEVICE4 -1 MISSION 25 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE6 -1 NAV_MODE 1 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 4 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 30 SEABIRD_C_G -10.162049 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_FILEKB 4 SEABIRD_C_H 1.142972 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_GPS 50945 SEABIRD_C_I -0.0032838252 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00030784801 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2991.02 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_G 0.0044153114 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064861565 XPDR_VALID 4

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6621732e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.3947326e-06

Pre-dive calculations and measurements:

GPS1 300418,224939,4742.3325,-12225.9443,4,1.1,49,16.3,0.3,261.4,8,3.0 TGT_NAME SW

_CALLS 4 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.401871,0.072719

_SM_DEPTHo 0.71 KALMAN_X -944.191650,-484.241699,-445.271667,133.579498,-204.062531

_SM_ANGLEo -26.8 KALMAN_Y -180.083176,-123.747238,-108.833977,-795.333069,-21.040291

GPS2 300418,225737,4742.3174,-12226.0459,8,0.9,15,16.3,0.0,45.0,9,4.7 MHEAD_RNG_PITCHd_Wd 63.4,1589,-9.7,-10.000,-13.76,7438

SPEED_LIMITS 0.173,0.408 D_GRID 187

Post-dive calculations and measurements:

SM_CCo 2208,0.00,0.000,0,0,1749,601.13 _10V_AH 10.13,3.419

SM_GC 0.92,26.00,2.45,0.00,0.024,0.033,0.000,244,2070,1749,-6.58,-1.46,601.13,0,0,0,0,0,0,26.50,26.53,26.56 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,300418,224447 FG_AHR_10Vo 0.000

TT8_MAMPS 0.045689,0.836633 MEM 313004

HUMID 40.78 DATA_FILE_SIZE 7047,262

INTERNAL_PRESSURE 9.91605 CAP_FILE_SIZE 86318,0

TCM_TEMP 9.60 CFSIZE 1023623168,1020411904

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 14.5,12.0 INTR 0,832.80,0x2139ee,0,24

SC_FREEKB 3908736 GPS 300418,233553,4742.107,-12225.885,4,1.0,14,16.3,0.4,246.7,9,4.6

_24V_AH 24.12,2.131

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 55 124 165.50 nil 0 0 0.00

Roll_motor 55 71 96.00 nil 0 0 0.00

VBD_pump_during_apogee 91 1411 3126.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2109 68 3491.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.59

TT8 0 0 0.00

LPSleep 1503 2 33.35

TT8_Active 207 19 41.69

TT8_Sampling 538 39 217.21

TT8_CF8 17 45 8.06

TT8_Kalman 32 81 26.88

Analog_circuits 451 12 54.85

GPS_charging 0 0 0.00

Compass 381 5 19.33

RAFOS 0 0 0.00

Transponder 2 30 0.80

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.27 -488.8 244 2067 1383 1687 0.0 0.0 0 20 0.00 0.00 -12.30 0.000 16390 0.000 0.000 250 2071 2934 2934 2046 0 0 0 0 0 0 26.90 25.54 26.86 10.02 40.66

21 -1.27 -488.8 244 2064 2937 2046 1.0 0.0 1 48 20.15 2.62 0.00 0.000 2564 0.125 0.067 1923 1076 2935 2935 2047 0 0 0 0 0 0 26.43 26.46 26.58 10.35 42.08

276 -1.27 -488.8 1922 1077 2940 2047 29.4 -7.1 44 281 0.00 2.45 0.00 0.000 1030 0.000 0.034 1923 2067 2939 2939 2040 0 0 0 0 0 0 26.72 26.66 26.75 10.33 41.02

342 -1.27 -488.8 1922 2066 2941 2040 34.6 -8.1 51 347 0.00 2.62 0.00 0.000 516 0.000 0.067 1921 1082 2939 2939 2046 0 0 0 0 0 0 26.95 26.58 26.96 10.32 40.70

438 -1.27 -488.8 1923 1083 2938 2046 43.0 -8.2 67 443 0.00 2.42 0.00 0.000 1030 0.000 0.034 1923 2064 2940 2940 2046 0 0 0 0 0 0 26.77 26.70 26.79 10.32 41.10

504 -1.27 -488.8 1924 2064 2940 2046 47.0 -5.1 74 505 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2063 2939 2939 2046 0 0 0 0 0 0 26.99 27.01 27.00 10.31 40.66

564 -1.27 -488.8 1922 2064 2941 2046 50.0 -4.9 80 569 0.00 2.55 0.00 0.000 260 0.000 0.057 1923 3034 2940 2940 2046 0 0 0 0 0 0 27.00 26.65 27.03 10.31 40.94

582 -1.27 -488.8 1923 3035 2941 2046 50.9 -4.8 83 587 0.00 2.50 0.00 0.000 1030 0.000 0.033 1921 2046 2939 2939 2046 0 0 0 0 0 0 26.79 26.70 26.82 10.31 40.86

648 -1.27 -488.8 1922 2048 2941 2046 53.9 -4.5 90 649 0.00 0.00 0.00 0.000 6 0.000 0.000 1927 2046 2941 2941 2046 0 0 0 0 0 0 27.01 27.03 27.03 10.31 41.17

708 -1.27 -488.8 1926 2047 2942 2046 57.3 -5.9 96 708 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2046 2940 2940 2046 0 0 0 0 0 0 27.03 27.05 27.04 10.31 41.41

768 -1.27 -488.8 1922 2046 2942 2046 61.0 -6.4 102 768 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2046 2950 2950 2049 0 0 0 0 0 0 27.03 27.05 27.05 10.31 41.53

828 -1.27 -488.8 1923 2047 2943 2049 64.7 -6.2 108 833 0.00 2.55 0.00 0.000 516 0.000 0.071 1928 1084 2941 2941 2039 0 0 0 0 0 0 27.04 26.66 27.06 10.32 41.80

852 -1.27 -488.8 1924 1085 2941 2039 66.3 -6.6 112 857 0.00 2.40 0.00 0.000 1030 0.000 0.033 1924 2059 2941 2941 2046 0 0 0 0 0 0 26.85 26.77 26.87 10.31 40.94

918 -1.27 -488.8 1923 2061 2943 2046 70.3 -5.8 119 918 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2060 2942 2942 2046 0 0 0 0 0 0 27.05 27.07 27.07 10.31 41.06

978 -1.27 -488.8 1923 2061 2944 2046 73.9 -6.0 125 983 0.00 2.58 0.00 0.000 516 0.000 0.068 1920 1091 2946 2946 2046 0 0 0 0 0 0 27.06 26.70 27.09 10.34 41.69

1014 -1.27 -488.8 1923 1093 2943 2046 76.3 -7.1 131 1019 0.00 2.38 0.00 0.000 1030 0.000 0.033 1923 2059 2939 2939 2046 0 0 0 0 0 0 26.86 26.80 26.90 10.31 41.33

1080 -1.27 -488.8 1922 2060 2944 2046 80.7 -6.6 138 1080 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2059 2942 2942 2046 0 0 0 0 0 0 27.08 27.09 27.09 10.31 41.61

1140 -1.27 -488.8 1924 2060 2942 2046 85.1 -7.4 144 1145 0.00 2.60 0.00 0.000 516 0.000 0.067 1923 1084 2944 2944 2046 0 0 0 0 0 0 27.08 26.69 27.10 10.31 41.53

1176 -1.27 -488.8 1922 1085 2945 2046 87.9 -7.8 150 1181 0.00 2.38 0.00 0.000 1030 0.000 0.034 1923 2052 2943 2943 2046 0 0 0 0 0 0 26.88 26.82 26.93 10.31 41.17

1211 end dive: TARGET_DEPTH_EXCEEDED

state 1211 begin apogee

1213 -0.28 0.0 1923 2053 2945 2046 90.5 -7.2 154 1257 3.47 0.00 39.30 1.411 10244 0.052 0.000 2253 2055 2402 2402 2050 0 0 0 0 0 0 26.80 25.60 24.75 10.31 42.08

1258 end apogee: CONTROL_FINISHED_OK

state 1258 begin climb

1259 1.27 488.8 2258 2055 2402 2050 91.3 0.0 158 1306 5.03 0.00 39.90 1.365 11270 0.036 0.000 2738 2052 1869 1869 2046 0 0 0 0 0 0 25.79 25.92 24.12 10.17 40.82

1366 1.27 488.8 2738 2055 1870 2046 80.6 11.7 173 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2054 1870 1870 2046 0 0 0 0 0 0 25.92 25.94 25.94 10.10 40.15

1425 1.27 488.8 2738 2055 1869 2046 73.5 11.9 179 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2054 1867 1867 2046 0 0 0 0 0 0 26.18 26.20 26.19 10.05 40.15

1485 1.27 488.8 2738 2054 1867 2046 66.6 11.4 185 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2054 1865 1865 2046 0 0 0 0 0 0 26.34 26.35 26.35 10.04 40.54

1545 1.27 488.8 2738 2055 1866 2046 60.1 10.7 191 1551 0.00 2.62 0.00 0.000 260 0.000 0.056 2739 3031 1866 1866 2042 0 0 0 0 0 0 26.45 26.11 26.46 10.04 41.14

1587 1.27 488.8 2739 3031 1863 2042 55.2 12.1 198 1593 0.00 2.47 0.00 0.000 1030 0.000 0.033 2739 2072 1867 1867 2045 0 0 0 0 0 0 26.30 26.22 26.34 10.05 41.49

1654 1.27 488.8 2740 2072 1862 2045 47.8 10.9 205 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2071 1861 1861 2046 0 0 0 0 0 0 26.59 26.60 26.60 10.04 40.82

1713 1.27 488.8 2739 2072 1861 2046 41.6 10.1 211 1719 0.00 2.60 0.00 0.000 260 0.000 0.056 2739 3032 1862 1862 2044 0 0 0 0 0 0 26.65 26.32 26.66 10.04 40.78

1743 1.27 488.8 2740 3034 1856 2044 38.3 11.1 216 1749 0.00 2.45 0.00 0.000 1030 0.000 0.032 2739 2078 1862 1862 2046 0 0 0 0 0 0 26.46 26.39 26.50 10.04 40.90

1810 1.31 517.1 2738 2078 1860 2046 31.9 9.6 223 1817 0.00 2.62 3.08 0.373 8708 0.000 0.072 2739 1082 1841 1841 2051 0 0 0 0 0 0 26.72 26.14 25.61 10.04 40.82

1845 1.36 550.3 2740 1082 1840 2051 28.4 9.5 229 1854 0.20 2.47 4.40 0.550 11270 0.050 0.032 2770 2079 1803 1803 2045 0 0 0 0 0 0 26.50 26.46 25.62 10.03 41.02

1912 1.36 550.3 2769 2078 1804 2045 21.5 10.7 236 1917 0.00 2.53 0.00 0.000 260 0.000 0.057 2770 3031 1802 1802 2046 0 0 0 0 0 0 26.71 26.38 26.72 10.02 41.02

1965 1.36 550.3 2771 3033 1801 2046 15.0 12.4 245 1972 0.00 2.42 0.00 0.000 1030 0.000 0.032 2770 2083 1801 1801 2046 0 0 0 0 0 0 26.55 26.46 26.57 10.04 41.25

2032 1.44 600.8 2771 2083 1800 2046 8.5 9.3 252 2038 0.17 0.00 5.18 0.522 10246 0.055 0.000 2799 2074 1749 1749 2046 0 0 0 0 0 0 26.58 26.36 25.77 10.03 40.98

2092 1.44 600.8 2799 2078 1750 2046 2.2 10.4 258 2097 0.00 2.65 0.00 0.000 516 0.000 0.069 2799 1081 1748 1748 2046 0 0 0 0 0 0 26.77 26.41 26.77 10.02 41.69

2103 end climb: SURFACE_DEPTH_REACHED

state 2103 begin surface coast

2115 end surface coast: CONTROL_FINISHED_OK

state 2115 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	2065	ALTIM_TOP_TURN_MARGIN	0
MISSION	25	HEADING	-1	C_ROLL_CLIMB	2065	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	120
N_DIVES	30	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	2
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	5650	R_PORT_OVSHOOT	15	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	3
D_TGT	90	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	XPDR_VALID	4
D_ABORT	200	SM_CC	350	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	4	ROLL_ADJ_GAIN	1	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	-1.1
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	234	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3400	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2400	DEVICE1	-1
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.92339998	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	30	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	40	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	6	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	50945	W_ADJ_DBAND	0	COMPASS_DEVICE	97
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	-6	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	4	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	100	SIM_W	0
D_OFFGRID	100	PITCH_MIN	220	MINV_24V	19	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3693	MINV_10V	8	SEABIRD_T_G	0.0044153114
RELAUNCH	0	C_PITCH	2350	MAXI_24V	0.60000002	SEABIRD_T_H	0.00064861565
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.6621732e-05
MAX_BUOY	500	PITCH_CNV	0.00312576	FG_AHR_10V	0	SEABIRD_T_J	3.3947326e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.162049
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	18	PRESSURE_YINT	-51.021927	SEABIRD_C_I	-0.0032838252
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	73949	PITCH_AD_RATE	70	AD7714Ch0Gain	1	SEABIRD_C_Z	2991.02
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	300418,224939,4742.3325,-12225.9443,4,1.1,49,16.3,0.3,261.4,8,3.0	TGT_NAME	SW
_CALLS	4	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.401871,0.072719
_SM_DEPTHo	0.71	KALMAN_X	-944.191650,-484.241699,-445.271667,133.579498,-204.062531
_SM_ANGLEo	-26.8	KALMAN_Y	-180.083176,-123.747238,-108.833977,-795.333069,-21.040291
GPS2	300418,225737,4742.3174,-12226.0459,8,0.9,15,16.3,0.0,45.0,9,4.7	MHEAD_RNG_PITCHd_Wd	63.4,1589,-9.7,-10.000,-13.76,7438
SPEED_LIMITS	0.173,0.408	D_GRID	187

SM_CCo	2208,0.00,0.000,0,0,1749,601.13	_10V_AH	10.13,3.419
SM_GC	0.92,26.00,2.45,0.00,0.024,0.033,0.000,244,2070,1749,-6.58,-1.46,601.13,0,0,0,0,0,0,26.50,26.53,26.56	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,300418,224447	FG_AHR_10Vo	0.000
TT8_MAMPS	0.045689,0.836633	MEM	313004
HUMID	40.78	DATA_FILE_SIZE	7047,262
INTERNAL_PRESSURE	9.91605	CAP_FILE_SIZE	86318,0
TCM_TEMP	9.60	CFSIZE	1023623168,1020411904
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	14.5,12.0	INTR	0,832.80,0x2139ee,0,24
SC_FREEKB	3908736	GPS	300418,233553,4742.107,-12225.885,4,1.0,14,16.3,0.4,246.7,9,4.6
_24V_AH	24.12,2.131

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	55	124	165.50	nil	0	0	0.00
Roll_motor	55	71	96.00	nil	0	0	0.00
VBD_pump_during_apogee	91	1411	3126.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2109	68	3491.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.59
TT8	0	0	0.00
LPSleep	1503	2	33.35
TT8_Active	207	19	41.69
TT8_Sampling	538	39	217.21
TT8_CF8	17	45	8.06
TT8_Kalman	32	81	26.88
Analog_circuits	451	12	54.85
GPS_charging	0	0	0.00
Compass	381	5	19.33
RAFOS	0	0	0.00
Transponder	2	30	0.80

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.27	-488.8	244	2067	1383	1687	0.0	0.0	0	20	0.00	0.00	-12.30	0.000	16390	0.000	0.000	250	2071	2934	2934	2046	0	0	0	0	0	0	26.90	25.54	26.86	10.02	40.66
21	-1.27	-488.8	244	2064	2937	2046	1.0	0.0	1	48	20.15	2.62	0.00	0.000	2564	0.125	0.067	1923	1076	2935	2935	2047	0	0	0	0	0	0	26.43	26.46	26.58	10.35	42.08
276	-1.27	-488.8	1922	1077	2940	2047	29.4	-7.1	44	281	0.00	2.45	0.00	0.000	1030	0.000	0.034	1923	2067	2939	2939	2040	0	0	0	0	0	0	26.72	26.66	26.75	10.33	41.02
342	-1.27	-488.8	1922	2066	2941	2040	34.6	-8.1	51	347	0.00	2.62	0.00	0.000	516	0.000	0.067	1921	1082	2939	2939	2046	0	0	0	0	0	0	26.95	26.58	26.96	10.32	40.70
438	-1.27	-488.8	1923	1083	2938	2046	43.0	-8.2	67	443	0.00	2.42	0.00	0.000	1030	0.000	0.034	1923	2064	2940	2940	2046	0	0	0	0	0	0	26.77	26.70	26.79	10.32	41.10
504	-1.27	-488.8	1924	2064	2940	2046	47.0	-5.1	74	505	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2063	2939	2939	2046	0	0	0	0	0	0	26.99	27.01	27.00	10.31	40.66
564	-1.27	-488.8	1922	2064	2941	2046	50.0	-4.9	80	569	0.00	2.55	0.00	0.000	260	0.000	0.057	1923	3034	2940	2940	2046	0	0	0	0	0	0	27.00	26.65	27.03	10.31	40.94
582	-1.27	-488.8	1923	3035	2941	2046	50.9	-4.8	83	587	0.00	2.50	0.00	0.000	1030	0.000	0.033	1921	2046	2939	2939	2046	0	0	0	0	0	0	26.79	26.70	26.82	10.31	40.86
648	-1.27	-488.8	1922	2048	2941	2046	53.9	-4.5	90	649	0.00	0.00	0.00	0.000	6	0.000	0.000	1927	2046	2941	2941	2046	0	0	0	0	0	0	27.01	27.03	27.03	10.31	41.17
708	-1.27	-488.8	1926	2047	2942	2046	57.3	-5.9	96	708	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2046	2940	2940	2046	0	0	0	0	0	0	27.03	27.05	27.04	10.31	41.41
768	-1.27	-488.8	1922	2046	2942	2046	61.0	-6.4	102	768	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2046	2950	2950	2049	0	0	0	0	0	0	27.03	27.05	27.05	10.31	41.53
828	-1.27	-488.8	1923	2047	2943	2049	64.7	-6.2	108	833	0.00	2.55	0.00	0.000	516	0.000	0.071	1928	1084	2941	2941	2039	0	0	0	0	0	0	27.04	26.66	27.06	10.32	41.80
852	-1.27	-488.8	1924	1085	2941	2039	66.3	-6.6	112	857	0.00	2.40	0.00	0.000	1030	0.000	0.033	1924	2059	2941	2941	2046	0	0	0	0	0	0	26.85	26.77	26.87	10.31	40.94
918	-1.27	-488.8	1923	2061	2943	2046	70.3	-5.8	119	918	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2060	2942	2942	2046	0	0	0	0	0	0	27.05	27.07	27.07	10.31	41.06
978	-1.27	-488.8	1923	2061	2944	2046	73.9	-6.0	125	983	0.00	2.58	0.00	0.000	516	0.000	0.068	1920	1091	2946	2946	2046	0	0	0	0	0	0	27.06	26.70	27.09	10.34	41.69
1014	-1.27	-488.8	1923	1093	2943	2046	76.3	-7.1	131	1019	0.00	2.38	0.00	0.000	1030	0.000	0.033	1923	2059	2939	2939	2046	0	0	0	0	0	0	26.86	26.80	26.90	10.31	41.33
1080	-1.27	-488.8	1922	2060	2944	2046	80.7	-6.6	138	1080	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2059	2942	2942	2046	0	0	0	0	0	0	27.08	27.09	27.09	10.31	41.61
1140	-1.27	-488.8	1924	2060	2942	2046	85.1	-7.4	144	1145	0.00	2.60	0.00	0.000	516	0.000	0.067	1923	1084	2944	2944	2046	0	0	0	0	0	0	27.08	26.69	27.10	10.31	41.53
1176	-1.27	-488.8	1922	1085	2945	2046	87.9	-7.8	150	1181	0.00	2.38	0.00	0.000	1030	0.000	0.034	1923	2052	2943	2943	2046	0	0	0	0	0	0	26.88	26.82	26.93	10.31	41.17
1211	end dive: TARGET_DEPTH_EXCEEDED
state	1211	begin apogee
1213	-0.28	0.0	1923	2053	2945	2046	90.5	-7.2	154	1257	3.47	0.00	39.30	1.411	10244	0.052	0.000	2253	2055	2402	2402	2050	0	0	0	0	0	0	26.80	25.60	24.75	10.31	42.08
1258	end apogee: CONTROL_FINISHED_OK
state	1258	begin climb
1259	1.27	488.8	2258	2055	2402	2050	91.3	0.0	158	1306	5.03	0.00	39.90	1.365	11270	0.036	0.000	2738	2052	1869	1869	2046	0	0	0	0	0	0	25.79	25.92	24.12	10.17	40.82
1366	1.27	488.8	2738	2055	1870	2046	80.6	11.7	173	1367	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2054	1870	1870	2046	0	0	0	0	0	0	25.92	25.94	25.94	10.10	40.15
1425	1.27	488.8	2738	2055	1869	2046	73.5	11.9	179	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2054	1867	1867	2046	0	0	0	0	0	0	26.18	26.20	26.19	10.05	40.15
1485	1.27	488.8	2738	2054	1867	2046	66.6	11.4	185	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2054	1865	1865	2046	0	0	0	0	0	0	26.34	26.35	26.35	10.04	40.54
1545	1.27	488.8	2738	2055	1866	2046	60.1	10.7	191	1551	0.00	2.62	0.00	0.000	260	0.000	0.056	2739	3031	1866	1866	2042	0	0	0	0	0	0	26.45	26.11	26.46	10.04	41.14
1587	1.27	488.8	2739	3031	1863	2042	55.2	12.1	198	1593	0.00	2.47	0.00	0.000	1030	0.000	0.033	2739	2072	1867	1867	2045	0	0	0	0	0	0	26.30	26.22	26.34	10.05	41.49
1654	1.27	488.8	2740	2072	1862	2045	47.8	10.9	205	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2071	1861	1861	2046	0	0	0	0	0	0	26.59	26.60	26.60	10.04	40.82
1713	1.27	488.8	2739	2072	1861	2046	41.6	10.1	211	1719	0.00	2.60	0.00	0.000	260	0.000	0.056	2739	3032	1862	1862	2044	0	0	0	0	0	0	26.65	26.32	26.66	10.04	40.78
1743	1.27	488.8	2740	3034	1856	2044	38.3	11.1	216	1749	0.00	2.45	0.00	0.000	1030	0.000	0.032	2739	2078	1862	1862	2046	0	0	0	0	0	0	26.46	26.39	26.50	10.04	40.90
1810	1.31	517.1	2738	2078	1860	2046	31.9	9.6	223	1817	0.00	2.62	3.08	0.373	8708	0.000	0.072	2739	1082	1841	1841	2051	0	0	0	0	0	0	26.72	26.14	25.61	10.04	40.82
1845	1.36	550.3	2740	1082	1840	2051	28.4	9.5	229	1854	0.20	2.47	4.40	0.550	11270	0.050	0.032	2770	2079	1803	1803	2045	0	0	0	0	0	0	26.50	26.46	25.62	10.03	41.02
1912	1.36	550.3	2769	2078	1804	2045	21.5	10.7	236	1917	0.00	2.53	0.00	0.000	260	0.000	0.057	2770	3031	1802	1802	2046	0	0	0	0	0	0	26.71	26.38	26.72	10.02	41.02
1965	1.36	550.3	2771	3033	1801	2046	15.0	12.4	245	1972	0.00	2.42	0.00	0.000	1030	0.000	0.032	2770	2083	1801	1801	2046	0	0	0	0	0	0	26.55	26.46	26.57	10.04	41.25
2032	1.44	600.8	2771	2083	1800	2046	8.5	9.3	252	2038	0.17	0.00	5.18	0.522	10246	0.055	0.000	2799	2074	1749	1749	2046	0	0	0	0	0	0	26.58	26.36	25.77	10.03	40.98
2092	1.44	600.8	2799	2078	1750	2046	2.2	10.4	258	2097	0.00	2.65	0.00	0.000	516	0.000	0.069	2799	1081	1748	1748	2046	0	0	0	0	0	0	26.77	26.41	26.77	10.02	41.69
2103	end climb: SURFACE_DEPTH_REACHED
state	2103	begin surface coast
2115	end surface coast: CONTROL_FINISHED_OK
state	2115	begin surface