Glider dive log

Shilshole 11Apr18 * SG403 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 403 HD_C 1.6100001e-05 C_ROLL_DIVE 1900 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 100

N_DIVES 20 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 2

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 14

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 12 ALTIM_PULSE 5

D_FLARE 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 3

D_TGT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 XPDR_VALID 2

D_ABORT 200 SM_CC 370 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 290 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3706 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 1995 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 60 CALL_WAIT 50 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERS 1

T_MISSION 75 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 360 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 60840 W_ADJ_DBAND 0 COMPASS_DEVICE 97

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE 145

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 20 RAFOS_DEVICE -1

USE_ICE -1 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 280 SIM_W 0

D_OFFGRID 100 PITCH_MIN 520 MINV_24V 19 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3845 MINV_10V 8 SEABIRD_T_G 0.0044036745

RELAUNCH 1 C_PITCH 2878 MAXI_24V 1 SEABIRD_T_H 0.00064191263

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.5792477e-05

MAX_BUOY 90 PITCH_CNV 0.0031300001 FG_AHR_10V 0 SEABIRD_T_J 3.2129112e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -9.8522949

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1415073

SPEED_FACTOR 1 PITCH_GAIN 12 PRESSURE_YINT -50.784832 SEABIRD_C_I -0.0017661594

RHO 1.023 PITCH_TIMEOUT 45 PRESSURE_SLOPE 2.6182999e-05 SEABIRD_C_J 0.00021273457

MASS 74303 PITCH_AD_RATE 50 AD7714Ch0Gain 1 SEABIRD_C_Z 2942.1799

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 250 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3840 ALTIM_TOP_PING_RANGE 15

HD_B 0.0099999998 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 50 SIM_PITCH 0

AH0_10V 280 D_TGT 180 PITCH_CNV 0.0031300001 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 370

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3845 STOP_T 0

ALTIM_FREQUENCY 14 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 2 FG_AHR_24V 0 PITCH_MIN 520 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FILEMGR 0 PITCH_TIMEOUT 45 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 45 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 0.003 PRESSURE_SLOPE 2.6182999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PRESSURE_YINT -50.784832 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_C 1.6100001e-05 PROTOCOL 9 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 10 HEAD_ERRBAND 15 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 50 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 60

CAPMAXSIZE 200000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 1 ID 403 RAFOS_HIT_WINDOW 3600 T_GPS 5

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_MMODEM 0 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_YINT -2.5 RAFOS_PEAK_OFFSET 1.5 T_MISSION 75

COMPASS2_DEVICE 145 KALMAN_USE 1 RELAUNCH 1 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.023 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 360

C_PITCH 2878 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 1900 MASS 74303 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 1995 MASS_COMP 0 ROLL_MAX 3840 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 USE_BATHY -6

DEEPGLIDER 2 MAXI_24V 1 ROLL_MIN 250 USE_ICE -1

DEVICE1 -1 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 12 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 20 VBD_DBAND 2

DEVICE4 -1 MISSION 4 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3706

DEVICE6 -1 NAV_MODE 1 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 13 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 290

D_ABORT 200 N_DIVES 20 SEABIRD_C_G -9.8522949 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 0 N_FILEKB 8 SEABIRD_C_H 1.1415073 VBD_PUMP_AD_RATE_SURFACE 3

D_CALL 0 N_GPS 60840 SEABIRD_C_I -0.0017661594 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00021273457 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2942.1799 XPDR_DEVICE 24

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_G 0.0044036745 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064191263 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.5792477e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2129112e-06

Pre-dive calculations and measurements:

GPS1 120418,112720,4743.5537,-12224.7490,17,0.8,42,16.3,0.3,19.8,12,6.0 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.002664,0.203571

_SM_DEPTHo 1.22 KALMAN_X 1999.661133,-296.372894,-193.047470,-1566.589355,-76.624664

_SM_ANGLEo -53.8 KALMAN_Y 885.414795,-545.816711,-447.723907,559.471130,-105.896423

GPS2 120418,113958,4743.6489,-12224.7217,9,1.2,33,16.3,0.3,10.2,10,6.0 MHEAD_RNG_PITCHd_Wd 343.0,658,-23.1,-10.000,-26.16,1334

SPEED_LIMITS 0.100,0.204 D_GRID 174

Post-dive calculations and measurements:

SM_CCo 3061,16.05,0.560,0,0,1592,370.28 _24V_AH 24.62,3.829

SM_GC 2.42,31.12,2.55,16.05,0.043,0.039,0.560,538,1908,1592,-7.30,-1.00,370.28,0,0,0,0,0,0,26.49,26.52,25.63 _10V_AH 10.55,5.121

IRIDIUM_FIX 4808.40,-12337.82,120418,101903 FG_AHR_24Vo 0.000

TT8_MAMPS 0.048685,0.462133 FG_AHR_10Vo 0.000

HUMID 29.48 MEM 312944

INTERNAL_PRESSURE 8.66254 DATA_FILE_SIZE 10495,302

TCM_TEMP 10.40 CAP_FILE_SIZE 67617,0

XPDR_PINGS 28 CFSIZE 1023623168,1019428864

ALTIM_TOP_PING 14.4,13.9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 101.0,94.7 GPS 120418,123304,4743.948,-12224.605,13,0.9,32,16.3,0.3,14.9,11,5.8

SC_FREEKB 3902304

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 65 130 212.32 nil 0 0 0.00

Roll_motor 51 71 90.78 nil 0 0 0.00

VBD_pump_during_apogee 29 1498 1104.12 nil 0 0 0.00

VBD_pump_during_surface 16 559 221.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 47 32 38.06 nil 0 0 0.00

Iridium_during_connect 35 160 140.87 SciCon 3052 70 5318.73

Iridium_during_xfer 489 223 2687.92 nil 0 0 0.00

Transponder_ping 7 420 80.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 14 5.13

TT8 0 0 0.00

LPSleep 2164 2 50.01

TT8_Active 159 11 20.19

TT8_Sampling 1470 37 580.70

TT8_CF8 50 56 30.01

TT8_Kalman 33 59 21.13

Analog_circuits 515 12 65.27

GPS_charging 0 0 0.00

Compass 662 7 52.37

RAFOS 0 0 0.00

Transponder 12 30 3.94

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -2.05 -88.0 540 1903 1590 3404 0.0 0.0 0 13 0.00 0.00 -3.70 0.000 16390 0.000 0.000 536 1901 2099 2099 4086 0 0 0 0 0 0 26.17 24.86 26.19 8.77 30.39

14 -2.05 -88.0 533 1903 2101 4086 0.0 0.0 0 39 20.80 2.62 0.00 0.000 2308 0.131 0.059 2210 2877 2100 2100 4095 0 0 0 0 0 0 25.75 25.80 25.89 8.88 30.82

398 -2.05 -88.0 2211 2877 2109 4095 47.5 -10.2 39 403 0.00 2.58 0.00 0.000 1030 0.000 0.043 2212 1895 2109 2109 4095 0 0 0 0 0 0 26.22 26.18 26.27 8.87 29.76

463 -2.05 -88.0 2211 1892 2110 4095 54.8 -10.4 46 468 0.00 2.65 0.00 0.000 260 0.000 0.057 2217 2876 2110 2110 4090 0 0 0 0 0 0 26.52 26.17 26.53 8.88 30.54

514 -2.05 -88.0 2209 2876 2114 4090 60.2 -10.8 51 518 0.00 2.55 0.00 0.000 1030 0.000 0.043 2209 1888 2112 2112 4092 0 0 0 0 0 0 26.29 26.25 26.29 8.88 30.19

583 -2.05 -88.0 2210 1894 2115 4092 67.5 -10.5 58 588 0.00 2.65 0.00 0.000 516 0.000 0.070 2208 923 2117 2117 4094 0 0 0 0 0 0 26.57 26.20 26.58 8.87 29.79

703 -2.05 -88.0 2210 924 2119 4094 81.6 -12.0 70 708 0.00 2.50 0.00 0.000 1030 0.000 0.038 2217 1901 2116 2116 4091 0 0 0 0 0 0 26.39 26.33 26.39 8.89 29.64

773 -2.05 -88.0 2210 1901 2117 4091 89.2 -10.6 77 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1898 2114 2114 4091 0 0 0 0 0 0 26.64 26.65 26.63 8.88 30.31

833 -2.05 -88.0 2208 1902 2120 4091 95.9 -11.4 83 838 0.00 2.67 0.00 0.000 516 0.000 0.069 2210 918 2119 2119 4095 0 0 0 0 0 0 26.65 26.28 26.69 8.87 29.99

1103 -2.05 -88.0 2209 922 2130 4095 134.2 -14.9 110 1108 0.00 2.50 0.00 0.000 1030 0.000 0.039 2218 1903 2128 2128 4088 0 0 0 0 0 0 26.48 26.44 26.58 8.88 29.79

1173 -2.05 -88.0 2211 1904 2129 4088 143.9 -13.5 117 1178 0.00 2.58 0.00 0.000 260 0.000 0.059 2211 2875 2125 2125 4094 0 0 0 0 0 0 26.74 26.38 26.75 8.88 29.95

1218 -2.05 -88.0 2210 2876 2139 4094 149.0 -13.0 121 1223 0.00 2.50 0.00 0.000 1030 0.000 0.042 2209 1906 2130 2130 4094 0 0 0 0 0 0 26.48 26.44 26.51 8.83 29.72

1283 -2.05 -88.0 2211 1907 2134 4094 157.1 -11.4 128 1284 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 1907 2133 2133 4095 0 0 0 0 0 0 26.74 26.77 26.77 8.89 29.95

1343 -2.05 -88.0 2211 1907 2135 4095 163.5 -10.2 134 1344 0.00 0.00 0.00 0.000 6 0.000 0.000 2202 1904 2139 2139 4093 0 0 0 0 0 0 26.76 26.79 26.78 8.88 29.83

1404 -2.05 -88.0 2215 1904 2133 4093 169.0 -9.1 140 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1906 2134 2134 4094 0 0 0 0 0 0 26.80 26.82 26.80 8.90 30.27

1463 end dive: TARGET_DEPTH_EXCEEDED

state 1463 begin apogee

1465 -0.42 0.0 2212 1906 2137 4095 174.9 -10.4 146 1484 5.85 0.00 11.55 1.499 10246 0.085 0.000 2735 1906 1993 1993 4093 0 0 0 0 0 0 26.42 25.90 24.68 8.89 29.87

1485 end apogee: CONTROL_FINISHED_OK

state 1485 begin climb

1486 2.05 88.0 2736 1907 1996 4093 175.8 0.0 148 1504 8.02 0.00 7.90 1.356 10246 0.037 0.000 3509 1909 1902 1902 4095 0 0 0 0 0 0 26.14 25.67 24.62 8.86 29.76

1563 2.05 88.0 3515 1906 1901 4095 168.1 11.7 156 1567 0.00 0.00 2.25 0.215 8198 0.000 0.000 3517 1906 1901 1901 4094 0 0 0 0 0 0 26.29 25.81 24.73 8.85 29.64

1623 2.05 88.0 3514 1906 1899 4094 159.8 13.9 162 1628 0.00 2.62 0.00 0.000 260 0.000 0.057 3513 2877 1902 1902 4095 0 0 0 0 0 0 26.34 25.99 26.35 8.85 30.19

1698 2.05 88.0 3514 2878 1897 4095 149.1 15.5 169 1703 0.00 2.58 0.00 0.000 1030 0.000 0.043 3512 1894 1897 1897 4095 0 0 0 0 0 0 26.13 26.06 26.16 8.84 29.83

1763 2.05 88.0 3514 1894 1895 4095 141.0 10.5 176 1764 0.00 0.00 0.00 0.000 6 0.000 0.000 3511 1894 1892 1892 4094 0 0 0 0 0 0 26.43 26.44 26.44 8.84 30.50

1824 2.07 97.4 3513 1894 1896 4094 135.3 9.3 182 1825 0.00 0.00 0.08 0.011 8198 0.000 0.000 3512 1892 1890 1890 4094 0 0 0 0 0 0 26.48 26.49 26.48 8.84 29.76

1884 2.10 116.2 3513 1895 1895 4094 130.1 8.6 188 1893 0.12 2.65 3.47 0.654 10500 0.074 0.055 3529 2879 1870 1870 4091 0 0 0 0 0 0 26.27 26.03 24.88 8.84 29.72

1934 2.10 118.1 3529 2876 1870 4091 125.3 9.9 193 1938 0.00 2.55 0.00 0.000 1030 0.000 0.043 3530 1900 1870 1870 4094 0 0 0 0 0 0 26.21 26.17 26.25 8.84 30.15

2004 2.11 124.2 3530 1901 1866 4094 118.6 9.5 200 2007 0.00 0.00 2.10 0.092 8198 0.000 0.000 3525 1899 1864 1864 4095 0 0 0 0 0 0 26.51 26.01 24.91 8.83 29.91

2064 2.12 132.3 3529 1901 1865 4095 113.0 9.4 206 2067 0.00 0.00 2.58 0.332 8198 0.000 0.000 3529 1894 1854 1854 4094 0 0 0 0 0 0 26.54 26.03 24.98 8.83 30.66

2123 2.12 132.3 3529 1901 1854 4094 106.8 10.3 212 2128 0.00 2.67 0.00 0.000 516 0.000 0.071 3526 920 1856 1856 4091 0 0 0 0 0 0 26.55 26.16 26.55 8.79 29.79

2318 2.12 132.3 3530 920 1847 4091 84.1 13.4 231 2323 0.00 2.50 0.00 0.000 1030 0.000 0.038 3539 1899 1847 1847 4094 0 0 0 0 0 0 26.39 26.35 26.41 8.85 29.76

2383 2.12 132.3 3529 1902 1847 4094 75.2 12.5 238 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 3530 1907 1843 1843 4094 0 0 0 0 0 0 26.64 26.68 26.66 8.92 30.19

2444 2.12 132.3 3529 1903 1852 4094 67.7 12.5 244 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 3529 1902 1841 1841 4095 0 0 0 0 0 0 26.66 26.66 26.67 8.85 29.79

2503 2.12 132.3 3531 1901 1841 4095 60.1 12.6 250 2504 0.00 0.00 0.00 0.000 6 0.000 0.000 3530 1901 1840 1840 4091 0 0 0 0 0 0 26.67 26.70 26.70 8.82 30.19

2563 2.12 132.3 3530 1902 1839 4091 52.4 12.9 256 2568 0.00 2.70 0.00 0.000 516 0.000 0.070 3530 913 1839 1839 4095 0 0 0 0 0 0 26.70 26.32 26.74 8.81 30.27

2709 2.12 132.3 3527 913 1830 4095 32.5 14.0 270 2713 0.00 2.50 0.00 0.000 1030 0.000 0.039 3530 1900 1825 1825 4094 0 0 0 0 0 0 26.49 26.46 26.52 8.81 30.19

2774 2.12 132.3 3528 1900 1837 4094 24.4 11.3 277 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 3528 1895 1837 1837 4095 0 0 0 0 0 0 26.77 26.75 26.79 8.81 30.35

2833 2.12 132.3 3531 1900 1831 4095 18.2 10.5 283 2838 0.00 2.70 0.00 0.000 516 0.000 0.070 3530 915 1825 1825 4094 0 0 0 0 0 0 26.76 26.39 26.77 8.81 29.95

3013 end climb: SURFACE_DEPTH_REACHED

state 3013 begin surface coast

3023 end surface coast: CONTROL_FINISHED_OK

state 3023 begin surface

ID	403	HD_C	1.6100001e-05	C_ROLL_DIVE	1900	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	100
N_DIVES	20	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	2
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	14
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	12	ALTIM_PULSE	5
D_FLARE	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	3
D_TGT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	XPDR_VALID	2
D_ABORT	200	SM_CC	370	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_NO_BLEED	50	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	290	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3706	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	1995	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	60	CALL_WAIT	50	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERS	1
T_MISSION	75	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	360	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	60840	W_ADJ_DBAND	0	COMPASS_DEVICE	97
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	145
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	20	RAFOS_DEVICE	-1
USE_ICE	-1	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	280	SIM_W	0
D_OFFGRID	100	PITCH_MIN	520	MINV_24V	19	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3845	MINV_10V	8	SEABIRD_T_G	0.0044036745
RELAUNCH	1	C_PITCH	2878	MAXI_24V	1	SEABIRD_T_H	0.00064191263
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.5792477e-05
MAX_BUOY	90	PITCH_CNV	0.0031300001	FG_AHR_10V	0	SEABIRD_T_J	3.2129112e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-9.8522949
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1415073
SPEED_FACTOR	1	PITCH_GAIN	12	PRESSURE_YINT	-50.784832	SEABIRD_C_I	-0.0017661594
RHO	1.023	PITCH_TIMEOUT	45	PRESSURE_SLOPE	2.6182999e-05	SEABIRD_C_J	0.00021273457
MASS	74303	PITCH_AD_RATE	50	AD7714Ch0Gain	1	SEABIRD_C_Z	2942.1799
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	250	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3840	ALTIM_TOP_PING_RANGE	15
HD_B	0.0099999998	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	120418,112720,4743.5537,-12224.7490,17,0.8,42,16.3,0.3,19.8,12,6.0	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.002664,0.203571
_SM_DEPTHo	1.22	KALMAN_X	1999.661133,-296.372894,-193.047470,-1566.589355,-76.624664
_SM_ANGLEo	-53.8	KALMAN_Y	885.414795,-545.816711,-447.723907,559.471130,-105.896423
GPS2	120418,113958,4743.6489,-12224.7217,9,1.2,33,16.3,0.3,10.2,10,6.0	MHEAD_RNG_PITCHd_Wd	343.0,658,-23.1,-10.000,-26.16,1334
SPEED_LIMITS	0.100,0.204	D_GRID	174

SM_CCo	3061,16.05,0.560,0,0,1592,370.28	_24V_AH	24.62,3.829
SM_GC	2.42,31.12,2.55,16.05,0.043,0.039,0.560,538,1908,1592,-7.30,-1.00,370.28,0,0,0,0,0,0,26.49,26.52,25.63	_10V_AH	10.55,5.121
IRIDIUM_FIX	4808.40,-12337.82,120418,101903	FG_AHR_24Vo	0.000
TT8_MAMPS	0.048685,0.462133	FG_AHR_10Vo	0.000
HUMID	29.48	MEM	312944
INTERNAL_PRESSURE	8.66254	DATA_FILE_SIZE	10495,302
TCM_TEMP	10.40	CAP_FILE_SIZE	67617,0
XPDR_PINGS	28	CFSIZE	1023623168,1019428864
ALTIM_TOP_PING	14.4,13.9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	101.0,94.7	GPS	120418,123304,4743.948,-12224.605,13,0.9,32,16.3,0.3,14.9,11,5.8
SC_FREEKB	3902304

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	65	130	212.32	nil	0	0	0.00
Roll_motor	51	71	90.78	nil	0	0	0.00
VBD_pump_during_apogee	29	1498	1104.12	nil	0	0	0.00
VBD_pump_during_surface	16	559	221.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	47	32	38.06	nil	0	0	0.00
Iridium_during_connect	35	160	140.87	SciCon	3052	70	5318.73
Iridium_during_xfer	489	223	2687.92	nil	0	0	0.00
Transponder_ping	7	420	80.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	14	5.13
TT8	0	0	0.00
LPSleep	2164	2	50.01
TT8_Active	159	11	20.19
TT8_Sampling	1470	37	580.70
TT8_CF8	50	56	30.01
TT8_Kalman	33	59	21.13
Analog_circuits	515	12	65.27
GPS_charging	0	0	0.00
Compass	662	7	52.37
RAFOS	0	0	0.00
Transponder	12	30	3.94

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-2.05	-88.0	540	1903	1590	3404	0.0	0.0	0	13	0.00	0.00	-3.70	0.000	16390	0.000	0.000	536	1901	2099	2099	4086	0	0	0	0	0	0	26.17	24.86	26.19	8.77	30.39
14	-2.05	-88.0	533	1903	2101	4086	0.0	0.0	0	39	20.80	2.62	0.00	0.000	2308	0.131	0.059	2210	2877	2100	2100	4095	0	0	0	0	0	0	25.75	25.80	25.89	8.88	30.82
398	-2.05	-88.0	2211	2877	2109	4095	47.5	-10.2	39	403	0.00	2.58	0.00	0.000	1030	0.000	0.043	2212	1895	2109	2109	4095	0	0	0	0	0	0	26.22	26.18	26.27	8.87	29.76
463	-2.05	-88.0	2211	1892	2110	4095	54.8	-10.4	46	468	0.00	2.65	0.00	0.000	260	0.000	0.057	2217	2876	2110	2110	4090	0	0	0	0	0	0	26.52	26.17	26.53	8.88	30.54
514	-2.05	-88.0	2209	2876	2114	4090	60.2	-10.8	51	518	0.00	2.55	0.00	0.000	1030	0.000	0.043	2209	1888	2112	2112	4092	0	0	0	0	0	0	26.29	26.25	26.29	8.88	30.19
583	-2.05	-88.0	2210	1894	2115	4092	67.5	-10.5	58	588	0.00	2.65	0.00	0.000	516	0.000	0.070	2208	923	2117	2117	4094	0	0	0	0	0	0	26.57	26.20	26.58	8.87	29.79
703	-2.05	-88.0	2210	924	2119	4094	81.6	-12.0	70	708	0.00	2.50	0.00	0.000	1030	0.000	0.038	2217	1901	2116	2116	4091	0	0	0	0	0	0	26.39	26.33	26.39	8.89	29.64
773	-2.05	-88.0	2210	1901	2117	4091	89.2	-10.6	77	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1898	2114	2114	4091	0	0	0	0	0	0	26.64	26.65	26.63	8.88	30.31
833	-2.05	-88.0	2208	1902	2120	4091	95.9	-11.4	83	838	0.00	2.67	0.00	0.000	516	0.000	0.069	2210	918	2119	2119	4095	0	0	0	0	0	0	26.65	26.28	26.69	8.87	29.99
1103	-2.05	-88.0	2209	922	2130	4095	134.2	-14.9	110	1108	0.00	2.50	0.00	0.000	1030	0.000	0.039	2218	1903	2128	2128	4088	0	0	0	0	0	0	26.48	26.44	26.58	8.88	29.79
1173	-2.05	-88.0	2211	1904	2129	4088	143.9	-13.5	117	1178	0.00	2.58	0.00	0.000	260	0.000	0.059	2211	2875	2125	2125	4094	0	0	0	0	0	0	26.74	26.38	26.75	8.88	29.95
1218	-2.05	-88.0	2210	2876	2139	4094	149.0	-13.0	121	1223	0.00	2.50	0.00	0.000	1030	0.000	0.042	2209	1906	2130	2130	4094	0	0	0	0	0	0	26.48	26.44	26.51	8.83	29.72
1283	-2.05	-88.0	2211	1907	2134	4094	157.1	-11.4	128	1284	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	1907	2133	2133	4095	0	0	0	0	0	0	26.74	26.77	26.77	8.89	29.95
1343	-2.05	-88.0	2211	1907	2135	4095	163.5	-10.2	134	1344	0.00	0.00	0.00	0.000	6	0.000	0.000	2202	1904	2139	2139	4093	0	0	0	0	0	0	26.76	26.79	26.78	8.88	29.83
1404	-2.05	-88.0	2215	1904	2133	4093	169.0	-9.1	140	1404	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1906	2134	2134	4094	0	0	0	0	0	0	26.80	26.82	26.80	8.90	30.27
1463	end dive: TARGET_DEPTH_EXCEEDED
state	1463	begin apogee
1465	-0.42	0.0	2212	1906	2137	4095	174.9	-10.4	146	1484	5.85	0.00	11.55	1.499	10246	0.085	0.000	2735	1906	1993	1993	4093	0	0	0	0	0	0	26.42	25.90	24.68	8.89	29.87
1485	end apogee: CONTROL_FINISHED_OK
state	1485	begin climb
1486	2.05	88.0	2736	1907	1996	4093	175.8	0.0	148	1504	8.02	0.00	7.90	1.356	10246	0.037	0.000	3509	1909	1902	1902	4095	0	0	0	0	0	0	26.14	25.67	24.62	8.86	29.76
1563	2.05	88.0	3515	1906	1901	4095	168.1	11.7	156	1567	0.00	0.00	2.25	0.215	8198	0.000	0.000	3517	1906	1901	1901	4094	0	0	0	0	0	0	26.29	25.81	24.73	8.85	29.64
1623	2.05	88.0	3514	1906	1899	4094	159.8	13.9	162	1628	0.00	2.62	0.00	0.000	260	0.000	0.057	3513	2877	1902	1902	4095	0	0	0	0	0	0	26.34	25.99	26.35	8.85	30.19
1698	2.05	88.0	3514	2878	1897	4095	149.1	15.5	169	1703	0.00	2.58	0.00	0.000	1030	0.000	0.043	3512	1894	1897	1897	4095	0	0	0	0	0	0	26.13	26.06	26.16	8.84	29.83
1763	2.05	88.0	3514	1894	1895	4095	141.0	10.5	176	1764	0.00	0.00	0.00	0.000	6	0.000	0.000	3511	1894	1892	1892	4094	0	0	0	0	0	0	26.43	26.44	26.44	8.84	30.50
1824	2.07	97.4	3513	1894	1896	4094	135.3	9.3	182	1825	0.00	0.00	0.08	0.011	8198	0.000	0.000	3512	1892	1890	1890	4094	0	0	0	0	0	0	26.48	26.49	26.48	8.84	29.76
1884	2.10	116.2	3513	1895	1895	4094	130.1	8.6	188	1893	0.12	2.65	3.47	0.654	10500	0.074	0.055	3529	2879	1870	1870	4091	0	0	0	0	0	0	26.27	26.03	24.88	8.84	29.72
1934	2.10	118.1	3529	2876	1870	4091	125.3	9.9	193	1938	0.00	2.55	0.00	0.000	1030	0.000	0.043	3530	1900	1870	1870	4094	0	0	0	0	0	0	26.21	26.17	26.25	8.84	30.15
2004	2.11	124.2	3530	1901	1866	4094	118.6	9.5	200	2007	0.00	0.00	2.10	0.092	8198	0.000	0.000	3525	1899	1864	1864	4095	0	0	0	0	0	0	26.51	26.01	24.91	8.83	29.91
2064	2.12	132.3	3529	1901	1865	4095	113.0	9.4	206	2067	0.00	0.00	2.58	0.332	8198	0.000	0.000	3529	1894	1854	1854	4094	0	0	0	0	0	0	26.54	26.03	24.98	8.83	30.66
2123	2.12	132.3	3529	1901	1854	4094	106.8	10.3	212	2128	0.00	2.67	0.00	0.000	516	0.000	0.071	3526	920	1856	1856	4091	0	0	0	0	0	0	26.55	26.16	26.55	8.79	29.79
2318	2.12	132.3	3530	920	1847	4091	84.1	13.4	231	2323	0.00	2.50	0.00	0.000	1030	0.000	0.038	3539	1899	1847	1847	4094	0	0	0	0	0	0	26.39	26.35	26.41	8.85	29.76
2383	2.12	132.3	3529	1902	1847	4094	75.2	12.5	238	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	3530	1907	1843	1843	4094	0	0	0	0	0	0	26.64	26.68	26.66	8.92	30.19
2444	2.12	132.3	3529	1903	1852	4094	67.7	12.5	244	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	3529	1902	1841	1841	4095	0	0	0	0	0	0	26.66	26.66	26.67	8.85	29.79
2503	2.12	132.3	3531	1901	1841	4095	60.1	12.6	250	2504	0.00	0.00	0.00	0.000	6	0.000	0.000	3530	1901	1840	1840	4091	0	0	0	0	0	0	26.67	26.70	26.70	8.82	30.19
2563	2.12	132.3	3530	1902	1839	4091	52.4	12.9	256	2568	0.00	2.70	0.00	0.000	516	0.000	0.070	3530	913	1839	1839	4095	0	0	0	0	0	0	26.70	26.32	26.74	8.81	30.27
2709	2.12	132.3	3527	913	1830	4095	32.5	14.0	270	2713	0.00	2.50	0.00	0.000	1030	0.000	0.039	3530	1900	1825	1825	4094	0	0	0	0	0	0	26.49	26.46	26.52	8.81	30.19
2774	2.12	132.3	3528	1900	1837	4094	24.4	11.3	277	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	3528	1895	1837	1837	4095	0	0	0	0	0	0	26.77	26.75	26.79	8.81	30.35
2833	2.12	132.3	3531	1900	1831	4095	18.2	10.5	283	2838	0.00	2.70	0.00	0.000	516	0.000	0.070	3530	915	1825	1825	4094	0	0	0	0	0	0	26.76	26.39	26.77	8.81	29.95
3013	end climb: SURFACE_DEPTH_REACHED
state	3013	begin surface coast
3023	end surface coast: CONTROL_FINISHED_OK
state	3023	begin surface