Glider dive log

POSYDON Mar17 * SG202 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 202 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 3

DIVE 12 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 74 ALTIM_SENSITIVITY 0

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 42 XPDR_VALID 1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_TGT 360 N_FILEKB 8 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_ABORT 1020 FILEMGR 0 VBD_MIN 500 MOTHERBOARD 4

D_NO_BLEED 500 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 20 COMM_SEQ 0 C_VBD 3154 DEVICE2 -1

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00030000001 LOGGERS 3

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 100 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE4 -1

T_MISSION 160 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN 225 N_GPS 100740 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 1 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_LOITER 1800 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 150 SIM_W 0

USE_BATHY -5 RAFOS_HIT_WINDOW 3600 AH0_10V 97 SIM_PITCH 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 19 SEABIRD_T_G 0.004404821

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 208 MINV_10V 8 SEABIRD_T_H 0.00064488029

D_OFFGRID 1020 PITCH_MAX 3892 MAXI_24V 0.60000002 SEABIRD_T_I 2.8507879e-05

T_WATCHDOG 10 C_PITCH 3020 MAXI_10V 0.80000001 SEABIRD_T_J 3.3644449e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.8029137

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1050078

MAX_BUOY 250 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I -0.0015785076

COURSE_BIAS 0 P_OVSHOOT_WITHG -6.8056469e+38 PRESSURE_YINT -61.796719 SEABIRD_C_J 0.00020331096

GLIDE_SLOPE 30 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001168043 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 25 AD7714Ch0Gain 128 SC_PROFILE 7.0

RHO 1.0275 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 51899 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 303 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3831 ALTIM_BOTTOM_TURN_MARGIN 0 PM_NDIVE 1.0

HD_A 0.003 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099999998 C_ROLL_DIVE 2600 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2700 ALTIM_PING_DEPTH 0 PM_SENDDEPTH 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_TGT 360 PITCH_DBAND 0.1 SEABIRD_T_H 0.00064488029

AH0_10V 97 ESCAPE_HEADING 0 PITCH_GAIN 25 SEABIRD_T_I 2.8507879e-05

AH0_24V 150 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3892 SEABIRD_T_J 3.3644449e-06

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MIN 208 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 25 SM_CC 450

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00030000001 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 STOP_T 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_W_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 0 GPS_DEVICE 32 PM_MOTORS 1.0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.003 PM_NDIVE 1.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PM_PROFILE 7.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 9.9999997e-06 PM_RECORDABOVE 2000.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001168043 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 ID 202 PRESSURE_YINT -61.796719 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_BOOST 0

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.5 P_OVSHOOT 0.039999999 T_DIVE 100

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG -6.8056469e+38 T_EPIRB 0

COMPASS2_DEVICE -1 LOGGERDEVICE1 51 RAFOS_CORR_THRESH 60 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE2 85 RAFOS_DEVICE -1 T_LOITER 1800

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 160

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_NO_W 120

C_PITCH 3020 LOGGERS 3 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

C_ROLL_CLIMB 2700 MASS 51899 RELAUNCH 1 T_TURN 225

C_ROLL_DIVE 2600 MASS_COMP 0 RHO 1.0275 T_TURN_SAMPINT -5

C_VBD 3154 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

DEEPGLIDER 0 MAX_BUOY 250 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 8 ROLL_CNV 0.028270001 USE_BATHY -5

DEVICE2 -1 MINV_24V 19 ROLL_DEG 40 USE_ICE 0

DEVICE3 -1 MISSION 2 ROLL_MAX 3831 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 303 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DIVE 12 N_DIVES 0 R_PORT_OVSHOOT 74 VBD_MAX 3960

D_ABORT 1020 N_FILEKB 8 R_STBD_OVSHOOT 42 VBD_MAXERRORS 1

D_BOOST 20 N_GPS 100740 SC_NDIVE 1.0 VBD_MIN 500

D_CALL 0 N_NOCOMM 2 SC_PROFILE 7.0 VBD_PUMP_AD_RATE_APOGEE 4

D_FINISH 0 N_NOSURFACE 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FLARE 3 PHONE_DEVICE 49 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_NO_BLEED 500 PHONE_SUPPLY -2 SEABIRD_C_G -9.8029137 W_ADJ_DBAND 0

D_OFFGRID 1020 PITCH_ADJ_DBAND 0 SEABIRD_C_H 1.1050078 XPDR_DEVICE 24

D_PITCH 0 PITCH_ADJ_GAIN 0 SEABIRD_C_I -0.0015785076 XPDR_INHIBIT 90

D_SAFE 0 PITCH_AD_RATE 160 SEABIRD_C_J 0.00020331096 XPDR_VALID 1

D_SURF 2 PITCH_CNV 0.003125763 SEABIRD_T_G 0.004404821

Pre-dive calculations and measurements:

GPS1 180317,124356,2909.2910,-7605.1313,13,1.5,40,-9.0,0.6,69.3,9,4.4 SPEED_LIMITS 0.208,0.347

_CALLS 1 TGT_NAME WS

_XMS_NAKs 0 TGT_LATLONG 2906.500,-7615.500

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 1.13 MHEAD_RNG_PITCHd_Wd 274.1,17802,-15.6,-12.000,-19.10,3089

_SM_ANGLEo -68.4 D_GRID 5076

GPS2 180317,125015,2909.3379,-7604.9888,15,1.3,31,-9.0,0.9,76.6,9,4.4

Post-dive calculations and measurements:

FINISH 0.3,1.013795 _24V_AH 24.61,2.585

SM_CCo 7881,30.17,0.129,0,0,1316,450.13 _10V_AH 10.42,1.910

SM_GC 1.11,7.65,0.05,30.17,0.027,0.138,0.129,188,2611,1316,-8.76,2.54,450.13,0,0,0,0,0,0,26.90,26.96,26.67 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2855.60,-7612.79,180317,104909 FG_AHR_10Vo 0.000

TT8_MAMPS 0.049434,0.2996 MEM 152960

HUMID 34.52 DATA_FILE_SIZE 23361,690

INTERNAL_PRESSURE 9.65074 CAP_FILE_SIZE 80635,0

TCM_TEMP 23.80 CFSIZE 1024409600,1018363904

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

SC_FREEKB 7893504 CURRENT 0.394,81.73,1

PM_FREEKB 61921280 GPS 180317,150332,2909.520,-7604.163,14,1.7,41,-9.0,0.5,73.5,9,4.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 227 105.82 nil 0 0 0.00

Roll_motor 42 1247 1303.48 nil 0 0 0.00

VBD_pump_during_apogee 414 1087 11091.43 nil 0 0 0.00

VBD_pump_during_surface 30 129 96.01 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 7846 8 1605.35

Iridium_during_xfer 267 100 659.24 PMAR 7852 11 2279.82

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.88

TT8 0 0 0.00

LPSleep 5957 2 135.94

TT8_Active 556 19 114.84

TT8_Sampling 1737 39 720.41

TT8_CF8 46 45 22.38

TT8_Kalman 0 0 0.00

Analog_circuits 1437 12 179.71

GPS_charging 0 0 0.00

Compass 993 15 155.28

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.70 -243.3 185 2598 1230 1391 0.0 0.0 0 81 0.00 0.00 -66.32 0.000 16386 0.000 0.000 185 2597 3285 3337 3233 0 0 0 0 0 0 26.84 28.83 26.84

83 -0.70 -243.3 184 2598 3333 3234 3.2 -6.2 11 114 9.88 2.15 -12.62 0.000 18980 0.227 1.248 2786 1208 3963 4036 3890 0 0 0 0 0 0 26.38 25.64 26.60

233 -0.70 -243.3 2787 1208 4035 3891 26.5 -13.3 40 241 0.00 2.12 0.00 0.000 1030 0.000 0.032 2780 2604 3962 4035 3890 0 0 0 0 0 0 26.63 26.59 26.65

419 -0.70 -243.3 2781 2602 4035 3891 51.6 -13.1 76 426 0.00 1.85 0.00 0.000 260 0.000 0.047 2772 3813 3963 4036 3890 0 0 0 0 0 0 26.98 26.70 26.98

465 -0.70 -243.3 2772 3813 4035 3891 57.0 -11.5 85 474 0.00 1.75 0.00 0.000 1062 0.000 0.026 2771 2597 3965 4041 3890 0 0 0 0 0 0 26.79 26.76 26.82

770 -0.70 -243.3 2771 2598 4037 3891 97.0 -13.6 116 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2771 2598 3963 4036 3890 0 0 0 0 0 0 27.11 27.11 27.11

1070 -0.70 -243.3 2772 2597 4035 3891 137.1 -12.7 146 1077 0.00 1.88 0.00 0.000 260 0.000 0.045 2763 3821 3963 4036 3890 0 0 0 0 0 0 27.17 26.87 27.17

1131 -0.70 -243.3 2764 3822 4036 3891 145.0 -12.8 158 1138 0.08 1.70 0.00 0.000 3078 0.148 0.027 2793 2600 3963 4036 3890 0 0 0 0 0 0 26.82 26.95 26.94

1442 -0.70 -243.3 2791 2599 4038 3891 179.5 -11.2 190 1444 0.00 0.00 0.00 0.000 38 0.000 0.000 2792 2599 3963 4036 3890 0 0 0 0 0 0 27.22 27.22 27.22

1752 -0.70 -243.3 2793 2600 4035 3891 214.0 -10.8 213 1760 0.00 1.83 0.00 0.000 292 0.000 0.045 2784 3823 3963 4036 3890 0 0 0 0 0 0 27.24 26.94 27.24

1823 -0.70 -243.3 2784 3823 4037 3891 221.9 -10.9 227 1830 0.00 1.75 0.00 0.000 1062 0.000 0.026 2784 2599 3962 4035 3890 0 0 0 0 0 0 27.04 27.02 27.05

2144 -0.70 -243.3 2783 2600 4036 3891 255.5 -10.1 241 2147 0.00 0.00 0.00 0.000 38 0.000 0.000 2784 2599 3962 4035 3890 0 0 0 0 0 0 27.27 27.27 27.27

2444 -0.70 -243.3 2783 2599 4038 3891 285.6 -10.1 251 2451 0.00 1.83 0.00 0.000 292 0.000 0.046 2777 3824 3963 4036 3890 0 0 0 0 0 0 27.28 26.98 27.27

2504 -0.70 -243.3 2776 3824 4037 3891 291.9 -10.6 263 2512 0.00 1.73 0.00 0.000 1062 0.000 0.027 2777 2592 3962 4035 3890 0 0 0 0 0 0 27.08 27.04 27.10

2835 -0.70 -243.3 2777 2593 4036 3891 327.0 -10.7 279 2842 0.00 1.85 0.00 0.000 292 0.000 0.045 2768 3831 3962 4035 3889 0 0 0 0 0 0 27.29 26.98 27.29

2916 -0.70 -243.3 2768 3831 4037 3891 336.0 -11.5 295 2923 0.00 1.77 0.00 0.000 1062 0.000 0.026 2769 2596 3962 4035 3890 0 0 0 0 0 0 27.08 27.06 27.09

3136 end dive: TARGET_DEPTH_EXCEEDED

state 3136 begin apogee

3139 -0.20 0.0 2768 2722 4037 3891 360.4 -10.9 304 3290 0.52 0.00 147.00 1.088 10246 0.099 0.000 2958 2722 3155 3181 3129 0 0 0 0 0 0 26.93 25.28 24.61

3292 end apogee: CONTROL_FINISHED_OK

state 3293 begin loiter

3587 -0.16 122.1 2957 2722 3183 3130 379.4 -4.1 319 3680 0.00 0.00 90.80 1.087 8230 0.000 0.000 2957 2721 2657 2671 2644 0 0 0 0 0 0 26.76 25.27 24.62

3976 -0.16 122.1 2959 2722 2673 2647 367.2 4.4 332 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2722 2658 2673 2644 0 0 0 0 0 0 26.75 26.75 26.75

4277 -0.16 122.1 2957 2719 2679 2645 354.9 4.0 342 4280 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2721 2658 2672 2644 0 0 0 0 0 0 26.97 26.97 26.97

4576 -0.16 122.1 2958 2722 2671 2643 343.4 3.6 352 4579 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2726 2657 2671 2644 0 0 0 0 0 0 27.08 27.08 27.08

4876 -0.16 122.1 2957 2722 2679 2645 332.2 3.8 362 4880 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2726 2657 2670 2644 0 0 0 0 0 0 27.14 27.14 27.14

5086 end loiter: LOITER_COMPLETE

state 5086 begin climb

5087 0.70 243.3 2958 2722 2669 2645 324.2 0.0 369 5186 0.80 1.75 90.28 1.056 10500 0.065 0.046 3264 3794 2161 2160 2162 0 0 0 0 0 0 26.86 25.44 24.72

5280 0.70 243.3 3264 3796 2157 2163 306.5 12.6 407 5287 0.00 1.62 0.00 0.000 1030 0.000 0.025 3265 2693 2159 2157 2162 0 0 0 0 0 0 26.22 26.19 26.23

5601 0.70 261.4 3264 2693 2159 2163 270.0 11.4 421 5623 0.00 1.75 14.35 0.964 8484 0.000 0.044 3264 3798 2089 2085 2093 0 0 0 0 0 0 26.88 26.27 25.58

5711 0.70 261.4 3264 3798 2087 2093 256.3 12.6 443 5718 0.00 1.60 0.00 0.000 1030 0.000 0.025 3266 2696 2088 2084 2092 0 0 0 0 0 0 26.54 26.53 26.56

6022 0.72 306.8 3265 2693 2083 2094 222.3 10.5 455 6062 0.00 0.00 36.08 0.972 8230 0.000 0.000 3265 2695 1903 1891 1915 0 0 0 0 0 0 26.97 25.96 25.31

6352 0.72 328.5 3265 2696 1890 1916 186.2 11.3 474 6376 0.00 1.77 17.88 0.933 8484 0.000 0.044 3265 3803 1812 1791 1834 0 0 0 0 0 0 26.84 26.21 25.53

6475 0.72 328.5 3265 3803 1788 1839 170.1 13.0 498 6483 0.00 1.60 0.00 0.000 1030 0.000 0.025 3265 2695 1813 1792 1834 0 0 0 0 0 0 26.51 26.49 26.53

6787 0.74 368.8 3265 2695 1793 1835 135.3 10.7 530 6811 0.00 1.77 17.92 0.864 8484 0.000 0.044 3265 3806 1648 1618 1679 0 0 0 0 0 0 26.96 26.33 25.70

6884 0.74 368.8 3266 3807 1615 1679 123.1 13.6 549 6892 0.00 1.60 0.00 0.000 1030 0.000 0.025 3268 2695 1646 1614 1678 0 0 0 0 0 0 26.57 26.54 26.58

7189 0.74 369.6 3267 2695 1613 1679 85.8 12.0 580 7196 0.00 1.73 0.00 0.000 292 0.000 0.044 3268 3801 1645 1611 1679 0 0 0 0 0 0 26.98 26.69 26.98

7245 0.74 369.6 3267 3801 1612 1679 78.6 12.7 591 7253 0.00 1.58 0.00 0.000 1030 0.000 0.025 3268 2706 1644 1611 1678 0 0 0 0 0 0 26.78 26.77 26.82

7550 0.74 369.6 3268 2707 1610 1679 40.4 12.9 629 7558 0.00 1.70 0.00 0.000 260 0.000 0.045 3268 3804 1644 1610 1678 0 0 0 0 0 0 27.10 26.79 27.10

7632 0.74 369.6 3267 3804 1612 1679 29.0 13.2 645 7640 0.00 1.58 0.00 0.000 1030 0.000 0.025 3268 2697 1644 1610 1678 0 0 0 0 0 0 26.91 26.91 26.93

7819 0.74 369.6 3268 2698 1610 1679 5.2 12.3 682 7827 0.00 0.00 0.00 0.000 6 0.000 0.000 3268 2696 1644 1610 1678 0 0 0 0 0 0 27.15 27.15 27.15

7844 end climb: SURFACE_DEPTH_REACHED

state 7844 begin surface coast

7860 end surface coast: CONTROL_FINISHED_OK

state 7860 begin surface

ID	202	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	3
DIVE	12	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	74	ALTIM_SENSITIVITY	0
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	42	XPDR_VALID	1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_TGT	360	N_FILEKB	8	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_ABORT	1020	FILEMGR	0	VBD_MIN	500	MOTHERBOARD	4
D_NO_BLEED	500	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	20	COMM_SEQ	0	C_VBD	3154	DEVICE2	-1
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00030000001	LOGGERS	3
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	100	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE4	-1
T_MISSION	160	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN	225	N_GPS	100740	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	1	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_LOITER	1800	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	150	SIM_W	0
USE_BATHY	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	97	SIM_PITCH	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	19	SEABIRD_T_G	0.004404821
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	208	MINV_10V	8	SEABIRD_T_H	0.00064488029
D_OFFGRID	1020	PITCH_MAX	3892	MAXI_24V	0.60000002	SEABIRD_T_I	2.8507879e-05
T_WATCHDOG	10	C_PITCH	3020	MAXI_10V	0.80000001	SEABIRD_T_J	3.3644449e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.8029137
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1050078
MAX_BUOY	250	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	-0.0015785076
COURSE_BIAS	0	P_OVSHOOT_WITHG	-6.8056469e+38	PRESSURE_YINT	-61.796719	SEABIRD_C_J	0.00020331096
GLIDE_SLOPE	30	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001168043	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	25	AD7714Ch0Gain	128	SC_PROFILE	7.0
RHO	1.0275	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	51899	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	303	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3831	ALTIM_BOTTOM_TURN_MARGIN	0	PM_NDIVE	1.0
HD_A	0.003	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099999998	C_ROLL_DIVE	2600	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2700	ALTIM_PING_DEPTH	0	PM_SENDDEPTH	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0

GPS1	180317,124356,2909.2910,-7605.1313,13,1.5,40,-9.0,0.6,69.3,9,4.4	SPEED_LIMITS	0.208,0.347
_CALLS	1	TGT_NAME	WS
_XMS_NAKs	0	TGT_LATLONG	2906.500,-7615.500
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	1.13	MHEAD_RNG_PITCHd_Wd	274.1,17802,-15.6,-12.000,-19.10,3089
_SM_ANGLEo	-68.4	D_GRID	5076
GPS2	180317,125015,2909.3379,-7604.9888,15,1.3,31,-9.0,0.9,76.6,9,4.4

FINISH	0.3,1.013795	_24V_AH	24.61,2.585
SM_CCo	7881,30.17,0.129,0,0,1316,450.13	_10V_AH	10.42,1.910
SM_GC	1.11,7.65,0.05,30.17,0.027,0.138,0.129,188,2611,1316,-8.76,2.54,450.13,0,0,0,0,0,0,26.90,26.96,26.67	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2855.60,-7612.79,180317,104909	FG_AHR_10Vo	0.000
TT8_MAMPS	0.049434,0.2996	MEM	152960
HUMID	34.52	DATA_FILE_SIZE	23361,690
INTERNAL_PRESSURE	9.65074	CAP_FILE_SIZE	80635,0
TCM_TEMP	23.80	CFSIZE	1024409600,1018363904
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	7893504	CURRENT	0.394,81.73,1
PM_FREEKB	61921280	GPS	180317,150332,2909.520,-7604.163,14,1.7,41,-9.0,0.5,73.5,9,4.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	227	105.82	nil	0	0	0.00
Roll_motor	42	1247	1303.48	nil	0	0	0.00
VBD_pump_during_apogee	414	1087	11091.43	nil	0	0	0.00
VBD_pump_during_surface	30	129	96.01	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	7846	8	1605.35
Iridium_during_xfer	267	100	659.24	PMAR	7852	11	2279.82
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.88
TT8	0	0	0.00
LPSleep	5957	2	135.94
TT8_Active	556	19	114.84
TT8_Sampling	1737	39	720.41
TT8_CF8	46	45	22.38
TT8_Kalman	0	0	0.00
Analog_circuits	1437	12	179.71
GPS_charging	0	0	0.00
Compass	993	15	155.28
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.70	-243.3	185	2598	1230	1391	0.0	0.0	0	81	0.00	0.00	-66.32	0.000	16386	0.000	0.000	185	2597	3285	3337	3233	0	0	0	0	0	0	26.84	28.83	26.84
83	-0.70	-243.3	184	2598	3333	3234	3.2	-6.2	11	114	9.88	2.15	-12.62	0.000	18980	0.227	1.248	2786	1208	3963	4036	3890	0	0	0	0	0	0	26.38	25.64	26.60
233	-0.70	-243.3	2787	1208	4035	3891	26.5	-13.3	40	241	0.00	2.12	0.00	0.000	1030	0.000	0.032	2780	2604	3962	4035	3890	0	0	0	0	0	0	26.63	26.59	26.65
419	-0.70	-243.3	2781	2602	4035	3891	51.6	-13.1	76	426	0.00	1.85	0.00	0.000	260	0.000	0.047	2772	3813	3963	4036	3890	0	0	0	0	0	0	26.98	26.70	26.98
465	-0.70	-243.3	2772	3813	4035	3891	57.0	-11.5	85	474	0.00	1.75	0.00	0.000	1062	0.000	0.026	2771	2597	3965	4041	3890	0	0	0	0	0	0	26.79	26.76	26.82
770	-0.70	-243.3	2771	2598	4037	3891	97.0	-13.6	116	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2771	2598	3963	4036	3890	0	0	0	0	0	0	27.11	27.11	27.11
1070	-0.70	-243.3	2772	2597	4035	3891	137.1	-12.7	146	1077	0.00	1.88	0.00	0.000	260	0.000	0.045	2763	3821	3963	4036	3890	0	0	0	0	0	0	27.17	26.87	27.17
1131	-0.70	-243.3	2764	3822	4036	3891	145.0	-12.8	158	1138	0.08	1.70	0.00	0.000	3078	0.148	0.027	2793	2600	3963	4036	3890	0	0	0	0	0	0	26.82	26.95	26.94
1442	-0.70	-243.3	2791	2599	4038	3891	179.5	-11.2	190	1444	0.00	0.00	0.00	0.000	38	0.000	0.000	2792	2599	3963	4036	3890	0	0	0	0	0	0	27.22	27.22	27.22
1752	-0.70	-243.3	2793	2600	4035	3891	214.0	-10.8	213	1760	0.00	1.83	0.00	0.000	292	0.000	0.045	2784	3823	3963	4036	3890	0	0	0	0	0	0	27.24	26.94	27.24
1823	-0.70	-243.3	2784	3823	4037	3891	221.9	-10.9	227	1830	0.00	1.75	0.00	0.000	1062	0.000	0.026	2784	2599	3962	4035	3890	0	0	0	0	0	0	27.04	27.02	27.05
2144	-0.70	-243.3	2783	2600	4036	3891	255.5	-10.1	241	2147	0.00	0.00	0.00	0.000	38	0.000	0.000	2784	2599	3962	4035	3890	0	0	0	0	0	0	27.27	27.27	27.27
2444	-0.70	-243.3	2783	2599	4038	3891	285.6	-10.1	251	2451	0.00	1.83	0.00	0.000	292	0.000	0.046	2777	3824	3963	4036	3890	0	0	0	0	0	0	27.28	26.98	27.27
2504	-0.70	-243.3	2776	3824	4037	3891	291.9	-10.6	263	2512	0.00	1.73	0.00	0.000	1062	0.000	0.027	2777	2592	3962	4035	3890	0	0	0	0	0	0	27.08	27.04	27.10
2835	-0.70	-243.3	2777	2593	4036	3891	327.0	-10.7	279	2842	0.00	1.85	0.00	0.000	292	0.000	0.045	2768	3831	3962	4035	3889	0	0	0	0	0	0	27.29	26.98	27.29
2916	-0.70	-243.3	2768	3831	4037	3891	336.0	-11.5	295	2923	0.00	1.77	0.00	0.000	1062	0.000	0.026	2769	2596	3962	4035	3890	0	0	0	0	0	0	27.08	27.06	27.09
3136	end dive: TARGET_DEPTH_EXCEEDED
state	3136	begin apogee
3139	-0.20	0.0	2768	2722	4037	3891	360.4	-10.9	304	3290	0.52	0.00	147.00	1.088	10246	0.099	0.000	2958	2722	3155	3181	3129	0	0	0	0	0	0	26.93	25.28	24.61
3292	end apogee: CONTROL_FINISHED_OK
state	3293	begin loiter
3587	-0.16	122.1	2957	2722	3183	3130	379.4	-4.1	319	3680	0.00	0.00	90.80	1.087	8230	0.000	0.000	2957	2721	2657	2671	2644	0	0	0	0	0	0	26.76	25.27	24.62
3976	-0.16	122.1	2959	2722	2673	2647	367.2	4.4	332	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2722	2658	2673	2644	0	0	0	0	0	0	26.75	26.75	26.75
4277	-0.16	122.1	2957	2719	2679	2645	354.9	4.0	342	4280	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2721	2658	2672	2644	0	0	0	0	0	0	26.97	26.97	26.97
4576	-0.16	122.1	2958	2722	2671	2643	343.4	3.6	352	4579	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2726	2657	2671	2644	0	0	0	0	0	0	27.08	27.08	27.08
4876	-0.16	122.1	2957	2722	2679	2645	332.2	3.8	362	4880	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2726	2657	2670	2644	0	0	0	0	0	0	27.14	27.14	27.14
5086	end loiter: LOITER_COMPLETE
state	5086	begin climb
5087	0.70	243.3	2958	2722	2669	2645	324.2	0.0	369	5186	0.80	1.75	90.28	1.056	10500	0.065	0.046	3264	3794	2161	2160	2162	0	0	0	0	0	0	26.86	25.44	24.72
5280	0.70	243.3	3264	3796	2157	2163	306.5	12.6	407	5287	0.00	1.62	0.00	0.000	1030	0.000	0.025	3265	2693	2159	2157	2162	0	0	0	0	0	0	26.22	26.19	26.23
5601	0.70	261.4	3264	2693	2159	2163	270.0	11.4	421	5623	0.00	1.75	14.35	0.964	8484	0.000	0.044	3264	3798	2089	2085	2093	0	0	0	0	0	0	26.88	26.27	25.58
5711	0.70	261.4	3264	3798	2087	2093	256.3	12.6	443	5718	0.00	1.60	0.00	0.000	1030	0.000	0.025	3266	2696	2088	2084	2092	0	0	0	0	0	0	26.54	26.53	26.56
6022	0.72	306.8	3265	2693	2083	2094	222.3	10.5	455	6062	0.00	0.00	36.08	0.972	8230	0.000	0.000	3265	2695	1903	1891	1915	0	0	0	0	0	0	26.97	25.96	25.31
6352	0.72	328.5	3265	2696	1890	1916	186.2	11.3	474	6376	0.00	1.77	17.88	0.933	8484	0.000	0.044	3265	3803	1812	1791	1834	0	0	0	0	0	0	26.84	26.21	25.53
6475	0.72	328.5	3265	3803	1788	1839	170.1	13.0	498	6483	0.00	1.60	0.00	0.000	1030	0.000	0.025	3265	2695	1813	1792	1834	0	0	0	0	0	0	26.51	26.49	26.53
6787	0.74	368.8	3265	2695	1793	1835	135.3	10.7	530	6811	0.00	1.77	17.92	0.864	8484	0.000	0.044	3265	3806	1648	1618	1679	0	0	0	0	0	0	26.96	26.33	25.70
6884	0.74	368.8	3266	3807	1615	1679	123.1	13.6	549	6892	0.00	1.60	0.00	0.000	1030	0.000	0.025	3268	2695	1646	1614	1678	0	0	0	0	0	0	26.57	26.54	26.58
7189	0.74	369.6	3267	2695	1613	1679	85.8	12.0	580	7196	0.00	1.73	0.00	0.000	292	0.000	0.044	3268	3801	1645	1611	1679	0	0	0	0	0	0	26.98	26.69	26.98
7245	0.74	369.6	3267	3801	1612	1679	78.6	12.7	591	7253	0.00	1.58	0.00	0.000	1030	0.000	0.025	3268	2706	1644	1611	1678	0	0	0	0	0	0	26.78	26.77	26.82
7550	0.74	369.6	3268	2707	1610	1679	40.4	12.9	629	7558	0.00	1.70	0.00	0.000	260	0.000	0.045	3268	3804	1644	1610	1678	0	0	0	0	0	0	27.10	26.79	27.10
7632	0.74	369.6	3267	3804	1612	1679	29.0	13.2	645	7640	0.00	1.58	0.00	0.000	1030	0.000	0.025	3268	2697	1644	1610	1678	0	0	0	0	0	0	26.91	26.91	26.93
7819	0.74	369.6	3268	2698	1610	1679	5.2	12.3	682	7827	0.00	0.00	0.00	0.000	6	0.000	0.000	3268	2696	1644	1610	1678	0	0	0	0	0	0	27.15	27.15	27.15
7844	end climb: SURFACE_DEPTH_REACHED
state	7844	begin surface coast
7860	end surface coast: CONTROL_FINISHED_OK
state	7860	begin surface