Glider dive log

POSYDON Mar17 * SG202 * Dive index * Mission links * Dive 13 * 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 13 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 75 ALTIM_SENSITIVITY 0

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 59 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 13 N_DIVES 0 R_PORT_OVSHOOT 75 VBD_MAX 3960

D_ABORT 1020 N_FILEKB 8 R_STBD_OVSHOOT 59 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 180317,150332,2909.5198,-7604.1626,14,1.7,41,-9.0,0.5,73.5,9,4.3 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 1.11 MHEAD_RNG_PITCHd_Wd 271.9,19413,-15.6,-12.000,-19.10,3089

_SM_ANGLEo -67.9 D_GRID 5090

GPS2 180317,150915,2909.5728,-7604.0298,10,1.6,14,-9.0,0.7,94.6,8,4.4

Post-dive calculations and measurements:

FINISH 0.3,0.999552 _24V_AH 24.59,2.715

SM_CCo 7775,35.55,0.129,0,0,1317,450.13 _10V_AH 10.41,1.990

SM_GC 1.28,7.65,0.08,35.55,0.025,0.100,0.129,178,2599,1317,-8.79,2.21,450.13,0,0,0,0,0,0,26.94,26.98,26.69 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2855.60,-7605.60,180317,124527 FG_AHR_10Vo 0.000

TT8_MAMPS 0.050183,0.274134 MEM 152992

HUMID 34.87 DATA_FILE_SIZE 23342,694

INTERNAL_PRESSURE 9.66051 CAP_FILE_SIZE 80906,0

TCM_TEMP 23.80 CFSIZE 1024409600,1018232832

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

SC_FREEKB 7892544 CURRENT 0.416,89.64,1

PM_FREEKB 61880512 GPS 180317,172050,2909.835,-7603.129,12,1.5,39,-9.0,0.8,62.4,9,4.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 226 105.38 nil 0 0 0.00

Roll_motor 46 1265 1439.80 nil 0 0 0.00

VBD_pump_during_apogee 409 1092 10988.82 nil 0 0 0.00

VBD_pump_during_surface 35 128 112.35 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 7742 8 1589.26

Iridium_during_xfer 245 104 628.01 PMAR 7747 11 2246.17

Transponder_ping 0 420 2.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.26

TT8 0 0 0.00

LPSleep 5844 2 133.24

TT8_Active 560 19 115.48

TT8_Sampling 1708 39 707.72

TT8_CF8 47 45 22.72

TT8_Kalman 0 0 0.00

Analog_circuits 1427 12 178.33

GPS_charging 0 0 0.00

Compass 999 15 156.03

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 -243.3 187 2610 1217 1395 0.0 0.0 0 81 0.00 0.00 -65.90 0.000 16386 0.000 0.000 187 2610 3263 3314 3212 0 0 0 0 0 0 26.83 28.83 26.83

82 -0.70 -243.3 189 2611 3314 3213 3.1 -5.7 11 114 9.85 1.90 -13.38 0.000 18724 0.226 1.265 2778 3810 3963 4037 3890 0 0 0 0 0 0 26.36 25.60 26.58

337 -0.70 -243.3 2779 3810 4038 3891 39.3 -13.7 61 347 0.00 1.77 0.00 0.000 1030 0.000 0.026 2778 2582 3962 4035 3890 0 0 0 0 0 0 26.74 26.72 26.75

530 -0.70 -243.3 2777 2582 4040 3892 64.6 -12.2 88 537 0.00 1.85 0.00 0.000 260 0.000 0.044 2770 3811 3964 4038 3890 0 0 0 0 0 0 27.04 26.73 27.04

605 -0.70 -243.3 2769 3812 4040 3891 74.8 -13.6 103 614 0.00 1.75 0.00 0.000 1030 0.000 0.026 2770 2597 3964 4038 3891 0 0 0 0 0 0 26.86 26.84 26.86

911 -0.70 -243.3 2768 2598 4040 3891 115.7 -13.3 134 918 0.00 1.85 0.00 0.000 260 0.000 0.044 2762 3804 3964 4038 3890 0 0 0 0 0 0 27.14 26.84 27.14

941 -0.70 -243.3 2761 3805 4040 3891 119.9 -14.3 140 949 0.10 1.67 0.00 0.000 3078 0.135 0.026 2796 2599 3964 4038 3890 0 0 0 0 0 0 26.77 26.91 26.90

1252 -0.70 -243.3 2795 2599 4040 3891 154.3 -10.4 172 1259 0.00 1.85 0.00 0.000 292 0.000 0.044 2788 3807 3964 4038 3890 0 0 0 0 0 0 27.19 26.89 27.19

1298 -0.70 -243.3 2787 3808 4040 3891 159.3 -10.9 181 1307 0.00 1.73 0.00 0.000 1062 0.000 0.025 2788 2599 3964 4038 3890 0 0 0 0 0 0 26.98 26.96 27.00

1603 -0.70 -243.3 2789 2600 4038 3891 191.3 -10.3 212 1606 0.00 0.00 0.00 0.000 38 0.000 0.000 2788 2599 3964 4039 3890 0 0 0 0 0 0 27.22 27.22 27.22

1903 -0.70 -243.3 2789 2600 4038 3891 222.9 -10.3 228 1910 0.00 1.85 0.00 0.000 292 0.000 0.044 2780 3808 3963 4035 3891 0 0 0 0 0 0 27.24 26.94 27.24

1949 -0.70 -243.3 2781 3809 4038 3891 227.7 -11.1 237 1956 0.00 1.73 0.00 0.000 1062 0.000 0.025 2780 2598 3964 4038 3890 0 0 0 0 0 0 27.02 27.01 27.04

2265 -0.70 -243.3 2781 2598 4038 3891 261.9 -10.8 250 2272 0.00 1.85 0.00 0.000 292 0.000 0.045 2772 3837 3964 4038 3890 0 0 0 0 0 0 27.26 26.96 27.26

2295 -0.70 -243.3 2773 3838 4038 3890 265.3 -11.5 256 2302 0.00 1.77 0.00 0.000 1062 0.000 0.026 2772 2599 3963 4036 3891 0 0 0 0 0 0 27.03 27.01 27.06

2626 -0.70 -243.3 2774 2599 4038 3891 301.3 -10.6 272 2633 0.00 1.80 0.00 0.000 292 0.000 0.045 2765 3811 3962 4035 3890 0 0 0 0 0 0 27.27 26.96 27.27

2671 -0.70 -243.3 2766 3811 4038 3891 306.4 -11.1 281 2679 0.00 1.67 0.00 0.000 1062 0.000 0.026 2765 2598 3964 4038 3890 0 0 0 0 0 0 27.08 27.03 27.10

2988 -0.70 -243.3 2765 2600 4038 3891 341.3 -10.8 294 2991 0.00 0.00 0.00 0.000 38 0.000 0.000 2764 2598 3964 4038 3891 0 0 0 0 0 0 27.28 27.28 27.28

3166 end dive: TARGET_DEPTH_EXCEEDED

state 3167 begin apogee

3169 -0.20 0.0 2764 2708 4039 3891 361.1 -11.1 300 3322 0.52 0.00 147.38 1.088 10246 0.101 0.000 2953 2708 3155 3179 3131 0 0 0 0 0 0 26.91 25.27 24.61

3324 end apogee: CONTROL_FINISHED_OK

state 3324 begin loiter

3617 -0.15 154.6 2954 2710 3180 3131 382.5 -5.1 315 3741 0.00 0.00 115.50 1.092 8230 0.000 0.000 2953 2708 2523 2532 2514 0 0 0 0 0 0 26.78 25.22 24.59

4037 -0.15 154.6 2953 2708 2534 2516 371.5 4.4 329 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2706 2523 2532 2515 0 0 0 0 0 0 26.77 26.77 26.77

4338 -0.15 154.6 2952 2709 2533 2516 354.8 5.7 339 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2709 2523 2531 2515 0 0 0 0 0 0 26.98 26.98 26.98

4637 -0.15 154.6 2954 2709 2530 2515 337.5 5.6 349 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2709 2523 2531 2515 0 0 0 0 0 0 27.08 27.08 27.08

4937 -0.15 154.6 2954 2709 2529 2515 324.1 4.0 359 4940 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2709 2522 2529 2515 0 0 0 0 0 0 27.14 27.15 27.15

5146 end loiter: LOITER_COMPLETE

state 5147 begin climb

5147 0.70 243.3 2952 2709 2531 2516 316.6 0.0 366 5222 0.80 2.17 65.88 1.046 10756 0.067 0.028 3264 1316 2162 2162 2162 0 0 0 0 0 0 26.86 25.70 24.99

5340 0.72 318.7 3263 1317 2161 2163 301.7 9.5 404 5408 0.00 2.10 59.20 1.031 9254 0.000 0.031 3264 2687 1855 1838 1872 0 0 0 0 0 0 26.32 26.29 24.77

5721 0.72 321.9 3265 2687 1834 1873 256.9 11.9 430 5735 0.00 1.77 3.92 0.803 8484 0.000 0.046 3264 3821 1842 1812 1872 0 0 0 0 0 0 26.79 26.41 25.69

5858 0.72 321.9 3264 3821 1812 1872 237.1 14.1 457 5865 0.00 1.62 0.00 0.000 1030 0.000 0.026 3267 2695 1842 1812 1872 0 0 0 0 0 0 26.66 26.64 26.67

6174 0.72 322.4 3266 2696 1812 1870 198.2 12.0 470 6181 0.00 1.75 0.00 0.000 292 0.000 0.045 3267 3814 1841 1810 1872 0 0 0 0 0 0 27.03 26.72 27.03

6265 0.72 322.4 3268 3814 1810 1872 185.6 14.1 488 6272 0.00 1.60 0.00 0.000 1030 0.000 0.026 3268 2669 1841 1810 1872 0 0 0 0 0 0 26.86 26.83 26.88

6575 0.72 329.5 3267 2669 1811 1873 148.0 11.8 520 6589 0.00 1.75 6.43 0.845 8484 0.000 0.043 3268 3826 1810 1782 1838 0 0 0 0 0 0 27.13 26.57 26.01

6647 0.72 329.5 3267 3826 1784 1838 138.4 13.4 534 6654 0.00 1.58 0.00 0.000 1030 0.000 0.026 3270 2691 1810 1783 1837 0 0 0 0 0 0 26.86 26.82 26.86

6958 0.73 354.4 3271 2691 1782 1838 102.6 11.2 566 6977 0.00 1.75 10.77 0.729 8484 0.000 0.044 3270 3814 1707 1679 1735 0 0 0 0 0 0 27.13 26.65 26.06

7040 0.73 354.4 3269 3814 1679 1736 91.9 13.5 582 7047 0.00 1.58 0.00 0.000 1030 0.000 0.026 3269 2691 1706 1676 1736 0 0 0 0 0 0 26.82 26.78 26.83

7351 0.73 354.4 3271 2692 1673 1736 52.0 12.8 614 7358 0.00 1.75 0.00 0.000 260 0.000 0.044 3271 3819 1704 1674 1735 0 0 0 0 0 0 27.12 26.82 27.12

7427 0.73 354.4 3271 3820 1673 1736 41.6 13.7 629 7435 0.00 1.60 0.00 0.000 1030 0.000 0.026 3275 2701 1704 1674 1735 0 0 0 0 0 0 26.93 26.90 26.94

7613 0.73 354.4 3270 2701 1675 1736 17.6 12.6 666 7621 0.00 0.00 0.00 0.000 6 0.000 0.000 3270 2700 1703 1673 1733 0 0 0 0 0 0 27.17 27.17 27.17

7738 end climb: SURFACE_DEPTH_REACHED

state 7738 begin surface coast

7754 end surface coast: CONTROL_FINISHED_OK

state 7754 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	13	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	75	ALTIM_SENSITIVITY	0
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	59	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	180317,150332,2909.5198,-7604.1626,14,1.7,41,-9.0,0.5,73.5,9,4.3	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	1.11	MHEAD_RNG_PITCHd_Wd	271.9,19413,-15.6,-12.000,-19.10,3089
_SM_ANGLEo	-67.9	D_GRID	5090
GPS2	180317,150915,2909.5728,-7604.0298,10,1.6,14,-9.0,0.7,94.6,8,4.4

FINISH	0.3,0.999552	_24V_AH	24.59,2.715
SM_CCo	7775,35.55,0.129,0,0,1317,450.13	_10V_AH	10.41,1.990
SM_GC	1.28,7.65,0.08,35.55,0.025,0.100,0.129,178,2599,1317,-8.79,2.21,450.13,0,0,0,0,0,0,26.94,26.98,26.69	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2855.60,-7605.60,180317,124527	FG_AHR_10Vo	0.000
TT8_MAMPS	0.050183,0.274134	MEM	152992
HUMID	34.87	DATA_FILE_SIZE	23342,694
INTERNAL_PRESSURE	9.66051	CAP_FILE_SIZE	80906,0
TCM_TEMP	23.80	CFSIZE	1024409600,1018232832
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	7892544	CURRENT	0.416,89.64,1
PM_FREEKB	61880512	GPS	180317,172050,2909.835,-7603.129,12,1.5,39,-9.0,0.8,62.4,9,4.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	226	105.38	nil	0	0	0.00
Roll_motor	46	1265	1439.80	nil	0	0	0.00
VBD_pump_during_apogee	409	1092	10988.82	nil	0	0	0.00
VBD_pump_during_surface	35	128	112.35	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	7742	8	1589.26
Iridium_during_xfer	245	104	628.01	PMAR	7747	11	2246.17
Transponder_ping	0	420	2.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.26
TT8	0	0	0.00
LPSleep	5844	2	133.24
TT8_Active	560	19	115.48
TT8_Sampling	1708	39	707.72
TT8_CF8	47	45	22.72
TT8_Kalman	0	0	0.00
Analog_circuits	1427	12	178.33
GPS_charging	0	0	0.00
Compass	999	15	156.03
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	187	2610	1217	1395	0.0	0.0	0	81	0.00	0.00	-65.90	0.000	16386	0.000	0.000	187	2610	3263	3314	3212	0	0	0	0	0	0	26.83	28.83	26.83
82	-0.70	-243.3	189	2611	3314	3213	3.1	-5.7	11	114	9.85	1.90	-13.38	0.000	18724	0.226	1.265	2778	3810	3963	4037	3890	0	0	0	0	0	0	26.36	25.60	26.58
337	-0.70	-243.3	2779	3810	4038	3891	39.3	-13.7	61	347	0.00	1.77	0.00	0.000	1030	0.000	0.026	2778	2582	3962	4035	3890	0	0	0	0	0	0	26.74	26.72	26.75
530	-0.70	-243.3	2777	2582	4040	3892	64.6	-12.2	88	537	0.00	1.85	0.00	0.000	260	0.000	0.044	2770	3811	3964	4038	3890	0	0	0	0	0	0	27.04	26.73	27.04
605	-0.70	-243.3	2769	3812	4040	3891	74.8	-13.6	103	614	0.00	1.75	0.00	0.000	1030	0.000	0.026	2770	2597	3964	4038	3891	0	0	0	0	0	0	26.86	26.84	26.86
911	-0.70	-243.3	2768	2598	4040	3891	115.7	-13.3	134	918	0.00	1.85	0.00	0.000	260	0.000	0.044	2762	3804	3964	4038	3890	0	0	0	0	0	0	27.14	26.84	27.14
941	-0.70	-243.3	2761	3805	4040	3891	119.9	-14.3	140	949	0.10	1.67	0.00	0.000	3078	0.135	0.026	2796	2599	3964	4038	3890	0	0	0	0	0	0	26.77	26.91	26.90
1252	-0.70	-243.3	2795	2599	4040	3891	154.3	-10.4	172	1259	0.00	1.85	0.00	0.000	292	0.000	0.044	2788	3807	3964	4038	3890	0	0	0	0	0	0	27.19	26.89	27.19
1298	-0.70	-243.3	2787	3808	4040	3891	159.3	-10.9	181	1307	0.00	1.73	0.00	0.000	1062	0.000	0.025	2788	2599	3964	4038	3890	0	0	0	0	0	0	26.98	26.96	27.00
1603	-0.70	-243.3	2789	2600	4038	3891	191.3	-10.3	212	1606	0.00	0.00	0.00	0.000	38	0.000	0.000	2788	2599	3964	4039	3890	0	0	0	0	0	0	27.22	27.22	27.22
1903	-0.70	-243.3	2789	2600	4038	3891	222.9	-10.3	228	1910	0.00	1.85	0.00	0.000	292	0.000	0.044	2780	3808	3963	4035	3891	0	0	0	0	0	0	27.24	26.94	27.24
1949	-0.70	-243.3	2781	3809	4038	3891	227.7	-11.1	237	1956	0.00	1.73	0.00	0.000	1062	0.000	0.025	2780	2598	3964	4038	3890	0	0	0	0	0	0	27.02	27.01	27.04
2265	-0.70	-243.3	2781	2598	4038	3891	261.9	-10.8	250	2272	0.00	1.85	0.00	0.000	292	0.000	0.045	2772	3837	3964	4038	3890	0	0	0	0	0	0	27.26	26.96	27.26
2295	-0.70	-243.3	2773	3838	4038	3890	265.3	-11.5	256	2302	0.00	1.77	0.00	0.000	1062	0.000	0.026	2772	2599	3963	4036	3891	0	0	0	0	0	0	27.03	27.01	27.06
2626	-0.70	-243.3	2774	2599	4038	3891	301.3	-10.6	272	2633	0.00	1.80	0.00	0.000	292	0.000	0.045	2765	3811	3962	4035	3890	0	0	0	0	0	0	27.27	26.96	27.27
2671	-0.70	-243.3	2766	3811	4038	3891	306.4	-11.1	281	2679	0.00	1.67	0.00	0.000	1062	0.000	0.026	2765	2598	3964	4038	3890	0	0	0	0	0	0	27.08	27.03	27.10
2988	-0.70	-243.3	2765	2600	4038	3891	341.3	-10.8	294	2991	0.00	0.00	0.00	0.000	38	0.000	0.000	2764	2598	3964	4038	3891	0	0	0	0	0	0	27.28	27.28	27.28
3166	end dive: TARGET_DEPTH_EXCEEDED
state	3167	begin apogee
3169	-0.20	0.0	2764	2708	4039	3891	361.1	-11.1	300	3322	0.52	0.00	147.38	1.088	10246	0.101	0.000	2953	2708	3155	3179	3131	0	0	0	0	0	0	26.91	25.27	24.61
3324	end apogee: CONTROL_FINISHED_OK
state	3324	begin loiter
3617	-0.15	154.6	2954	2710	3180	3131	382.5	-5.1	315	3741	0.00	0.00	115.50	1.092	8230	0.000	0.000	2953	2708	2523	2532	2514	0	0	0	0	0	0	26.78	25.22	24.59
4037	-0.15	154.6	2953	2708	2534	2516	371.5	4.4	329	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2706	2523	2532	2515	0	0	0	0	0	0	26.77	26.77	26.77
4338	-0.15	154.6	2952	2709	2533	2516	354.8	5.7	339	4341	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2709	2523	2531	2515	0	0	0	0	0	0	26.98	26.98	26.98
4637	-0.15	154.6	2954	2709	2530	2515	337.5	5.6	349	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2709	2523	2531	2515	0	0	0	0	0	0	27.08	27.08	27.08
4937	-0.15	154.6	2954	2709	2529	2515	324.1	4.0	359	4940	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2709	2522	2529	2515	0	0	0	0	0	0	27.14	27.15	27.15
5146	end loiter: LOITER_COMPLETE
state	5147	begin climb
5147	0.70	243.3	2952	2709	2531	2516	316.6	0.0	366	5222	0.80	2.17	65.88	1.046	10756	0.067	0.028	3264	1316	2162	2162	2162	0	0	0	0	0	0	26.86	25.70	24.99
5340	0.72	318.7	3263	1317	2161	2163	301.7	9.5	404	5408	0.00	2.10	59.20	1.031	9254	0.000	0.031	3264	2687	1855	1838	1872	0	0	0	0	0	0	26.32	26.29	24.77
5721	0.72	321.9	3265	2687	1834	1873	256.9	11.9	430	5735	0.00	1.77	3.92	0.803	8484	0.000	0.046	3264	3821	1842	1812	1872	0	0	0	0	0	0	26.79	26.41	25.69
5858	0.72	321.9	3264	3821	1812	1872	237.1	14.1	457	5865	0.00	1.62	0.00	0.000	1030	0.000	0.026	3267	2695	1842	1812	1872	0	0	0	0	0	0	26.66	26.64	26.67
6174	0.72	322.4	3266	2696	1812	1870	198.2	12.0	470	6181	0.00	1.75	0.00	0.000	292	0.000	0.045	3267	3814	1841	1810	1872	0	0	0	0	0	0	27.03	26.72	27.03
6265	0.72	322.4	3268	3814	1810	1872	185.6	14.1	488	6272	0.00	1.60	0.00	0.000	1030	0.000	0.026	3268	2669	1841	1810	1872	0	0	0	0	0	0	26.86	26.83	26.88
6575	0.72	329.5	3267	2669	1811	1873	148.0	11.8	520	6589	0.00	1.75	6.43	0.845	8484	0.000	0.043	3268	3826	1810	1782	1838	0	0	0	0	0	0	27.13	26.57	26.01
6647	0.72	329.5	3267	3826	1784	1838	138.4	13.4	534	6654	0.00	1.58	0.00	0.000	1030	0.000	0.026	3270	2691	1810	1783	1837	0	0	0	0	0	0	26.86	26.82	26.86
6958	0.73	354.4	3271	2691	1782	1838	102.6	11.2	566	6977	0.00	1.75	10.77	0.729	8484	0.000	0.044	3270	3814	1707	1679	1735	0	0	0	0	0	0	27.13	26.65	26.06
7040	0.73	354.4	3269	3814	1679	1736	91.9	13.5	582	7047	0.00	1.58	0.00	0.000	1030	0.000	0.026	3269	2691	1706	1676	1736	0	0	0	0	0	0	26.82	26.78	26.83
7351	0.73	354.4	3271	2692	1673	1736	52.0	12.8	614	7358	0.00	1.75	0.00	0.000	260	0.000	0.044	3271	3819	1704	1674	1735	0	0	0	0	0	0	27.12	26.82	27.12
7427	0.73	354.4	3271	3820	1673	1736	41.6	13.7	629	7435	0.00	1.60	0.00	0.000	1030	0.000	0.026	3275	2701	1704	1674	1735	0	0	0	0	0	0	26.93	26.90	26.94
7613	0.73	354.4	3270	2701	1675	1736	17.6	12.6	666	7621	0.00	0.00	0.00	0.000	6	0.000	0.000	3270	2700	1703	1673	1733	0	0	0	0	0	0	27.17	27.17	27.17
7738	end climb: SURFACE_DEPTH_REACHED
state	7738	begin surface coast
7754	end surface coast: CONTROL_FINISHED_OK
state	7754	begin surface