Glider dive log

Shilshole 11Apr18 * SG401 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0

MISSION 23 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING 0 HEAD_ERRBAND 30 ALTIM_PING_DEPTH 90

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 5650 R_PORT_OVSHOOT 48 ALTIM_PULSE 6

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 17 ALTIM_SENSITIVITY 2

D_TGT 180 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 250 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3765 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 1850 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 180 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 60 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 90 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 3175 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 100 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 45 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 15 PRESSURE_YINT -51.021927 SEABIRD_C_I -0.0032838252

RHO 1.0256 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 74692 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 0 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 2 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 50 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 180 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 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3693 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 220 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 90 FILEMGR 0 PITCH_TIMEOUT 50 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 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 0.0040000002 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 30 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 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 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 90

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.0256 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 3175 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2600 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2600 MASS 74692 ROLL_DEG 50 UNCOM_BLEED 60

C_VBD 1850 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 100 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 48 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 17 VBD_DBAND 2

DEVICE4 -1 MISSION 23 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3765

DEVICE6 -1 NAV_MODE 0 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 14 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 250

D_ABORT 200 N_DIVES 20 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 180

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 120418,084840,4743.0088,-12224.6436,72,0.9,87,16.3,0.0,0.0,9,4.6 TGT_NAME SW

_CALLS 5 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.93 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120418,090625,4743.0269,-12224.7734,7,0.9,48,16.3,0.0,0.0,9,3.0 MHEAD_RNG_PITCHd_Wd 165.6,976,-24.1,-10.000,-26.74,1498

SPEED_LIMITS 0.100,0.198 D_GRID 178

Post-dive calculations and measurements:

FINISH 0.1,0.999823 _24V_AH 23.96,1.069

SM_CCo 2677,2.15,0.083,0,0,1467,350.89 _10V_AH 10.22,2.585

SM_GC 3.52,35.00,2.72,2.15,0.027,0.037,0.083,240,2593,1467,-9.16,1.69,350.89,0,0,0,0,0,0,26.56,26.57,25.81 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,120418,074715 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047187,0.818657 MEM 312872

HUMID 43.85 DATA_FILE_SIZE 7039,255

INTERNAL_PRESSURE 8.38279 CAP_FILE_SIZE 91293,0

TCM_TEMP 7.70 CFSIZE 1023623168,1019920384

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

ALTIM_TOP_PING 13.1,999.0 GPS 120418,095214,4742.476,-12225.052,18,0.9,28,16.3,0.0,352.9,9,4.8

SC_FREEKB 3905152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 76 137 251.74 nil 0 0 0.00

Roll_motor 67 91 148.08 nil 0 0 0.00

VBD_pump_during_apogee 32 2153 1654.98 nil 0 0 0.00

VBD_pump_during_surface 2 83 4.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 131 103 324.18 nil 0 0 0.00

Iridium_during_connect 77 160 298.73 SciCon 2657 69 4454.92

Iridium_during_xfer 522 223 2794.24 nil 0 0 0.00

Transponder_ping 123 420 1240.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 49 50 25.31

TT8 0 0 0.00

LPSleep 1211 2 27.12

TT8_Active 219 19 44.39

TT8_Sampling 2269 39 923.05

TT8_CF8 53 45 25.04

TT8_Kalman 0 0 0.00

Analog_circuits 598 12 73.40

GPS_charging 0 0 0.00

Compass 372 5 19.06

RAFOS 0 0 0.00

Transponder 1389 30 425.97

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

7 -1.75 -97.5 241 2609 1468 3404 0.0 0.0 0 11 0.00 0.00 -2.83 0.000 16390 0.000 0.000 239 2609 1961 1961 4094 0 0 0 0 0 0 26.34 25.17 26.34 8.47 44.44

12 -1.75 -97.5 233 2608 1964 4094 0.0 0.0 0 47 29.70 2.70 0.00 0.000 2820 0.138 0.032 2597 1530 1960 1960 4095 0 0 0 0 0 0 25.90 26.02 26.00 8.57 45.11

129 -1.75 -97.5 2603 1530 1968 4095 27.6 -17.6 20 137 0.00 2.85 0.00 0.000 1030 0.000 0.059 2602 2591 1974 1974 4094 0 0 0 0 0 0 26.20 26.10 26.20 8.57 44.92

195 -1.75 -97.5 2601 2591 1973 4094 39.9 -19.3 27 196 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2591 1971 1971 4094 0 0 0 0 0 0 26.51 26.52 26.52 8.58 44.68

255 -1.75 -97.5 2602 2592 1977 4094 51.4 -19.2 33 263 0.00 2.75 0.00 0.000 516 0.000 0.037 2602 1531 1975 1975 4095 0 0 0 0 0 0 26.56 26.25 26.58 8.57 44.60

410 -1.75 -97.5 2603 1531 1985 4095 76.4 -17.7 52 432 0.00 2.80 0.00 0.000 1030 0.000 0.060 2602 2591 1981 1981 4094 0 0 0 0 0 0 26.43 26.31 26.44 8.57 44.09

550 -1.75 -97.5 2602 2591 1987 4094 102.0 -18.8 59 573 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2587 1985 1985 4094 0 0 0 0 0 0 26.58 26.60 26.60 8.58 44.01

696 -1.75 -97.5 2603 2591 1992 4094 128.8 -18.7 66 719 0.00 2.70 0.00 0.000 516 0.000 0.038 2602 1532 1993 1993 4094 0 0 0 0 0 0 26.58 26.34 26.59 8.58 43.81

780 -1.75 -97.5 2602 1530 1997 4094 143.6 -17.7 70 803 0.00 2.72 0.00 0.000 1030 0.000 0.056 2602 2570 1997 1997 4094 0 0 0 0 0 0 26.41 26.34 26.44 8.59 44.32

924 -1.75 -97.5 2602 2571 2004 4094 171.3 -20.8 77 948 0.00 3.10 0.00 0.000 260 0.000 0.090 2602 3691 2005 2005 4094 0 0 0 0 0 0 26.57 26.28 26.58 8.59 43.54

968 end dive: TARGET_DEPTH_EXCEEDED

state 968 begin apogee

973 -0.33 0.0 2603 2604 2004 4088 181.2 -21.2 79 989 5.15 0.00 9.18 2.153 10244 0.100 0.000 3051 2600 1857 1857 4095 0 0 0 0 0 0 26.27 25.75 24.19 8.59 43.14

990 end apogee: CONTROL_FINISHED_OK

state 991 begin climb

991 1.75 97.5 3053 2604 1849 4095 189.8 0.0 82 1011 6.45 2.75 6.60 1.922 10756 0.045 0.037 3675 1524 1741 1741 4094 0 0 0 0 0 0 25.97 25.89 23.96 8.57 43.58

1183 1.95 228.7 3669 1521 1747 4094 183.7 1.0 114 1197 0.00 2.88 8.70 2.084 11270 0.000 0.054 3669 2598 1602 1602 4094 0 0 0 0 0 0 26.12 26.06 24.06 8.55 43.06

1255 1.97 245.4 3668 2599 1602 4094 178.3 8.9 122 1263 0.00 2.83 2.53 0.560 10756 0.000 0.041 3665 1513 1594 1594 4094 0 0 0 0 0 0 26.17 25.43 24.20 8.52 43.69

1309 2.07 309.0 3668 1517 1591 4094 174.3 5.6 131 1323 0.00 2.95 5.05 1.572 11270 0.000 0.061 3664 2603 1519 1519 4094 0 0 0 0 0 0 26.01 25.94 24.22 8.51 43.85

1381 2.07 309.0 3670 2602 1517 4094 165.3 13.7 139 1389 0.00 2.80 0.00 0.000 2564 0.000 0.034 3671 1513 1508 1508 4093 0 0 0 0 0 0 26.25 25.96 26.26 8.50 43.46

1399 2.07 309.0 3670 1517 1516 4093 163.1 13.5 142 1407 0.00 2.90 0.03 0.005 11270 0.000 0.059 3664 2589 1516 1516 4094 0 0 0 0 0 0 26.05 25.96 26.06 8.50 43.46

1465 2.07 309.0 3669 2589 1515 4094 155.5 11.3 149 1473 0.00 2.78 0.00 0.000 2564 0.000 0.038 3672 1517 1514 1514 4095 0 0 0 0 0 0 26.39 26.06 26.39 8.50 43.54

1489 2.07 309.0 3670 1521 1514 4095 152.9 10.8 153 1497 0.00 2.88 0.00 0.000 3078 0.000 0.054 3667 2596 1514 1514 4095 0 0 0 0 0 0 26.15 26.09 26.17 8.49 43.81

1555 2.07 309.0 3668 2598 1513 4095 141.3 19.1 160 1556 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2596 1511 1511 4094 0 0 0 0 0 0 26.50 26.51 26.51 8.50 44.21

1615 2.07 309.0 3670 2596 1509 4094 131.8 15.1 166 1616 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2597 1509 1509 4094 0 0 0 0 0 0 26.55 26.56 26.56 8.50 43.50

1675 2.07 309.0 3668 2597 1508 4094 122.5 16.3 172 1676 0.00 0.00 0.00 0.000 2054 0.000 0.000 3667 2596 1506 1506 4094 0 0 0 0 0 0 26.60 26.62 26.61 8.49 44.17

1735 2.07 309.0 3670 2596 1504 4094 113.8 14.3 178 1736 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2596 1504 1504 4094 0 0 0 0 0 0 26.65 26.65 26.65 8.49 44.25

1795 2.07 309.0 3670 2597 1502 4094 104.9 15.0 184 1796 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2596 1502 1502 4094 0 0 0 0 0 0 26.69 26.70 26.70 8.49 44.40

1855 2.07 309.0 3670 2596 1499 4094 96.5 13.1 190 1856 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2596 1499 1499 4094 0 0 0 0 0 0 26.72 26.73 26.73 8.46 44.52

1915 2.07 309.0 3668 2596 1499 4094 88.0 14.4 196 1923 0.00 2.75 0.00 0.000 2564 0.000 0.040 3669 1527 1497 1497 4095 0 0 0 0 0 0 26.75 26.44 26.76 8.49 44.80

1939 2.07 309.0 3668 1527 1498 4095 84.8 13.5 200 1947 0.00 2.80 0.00 0.000 3078 0.000 0.054 3669 2585 1491 1491 4093 0 0 0 0 0 0 26.53 26.42 26.55 8.49 44.60

2005 2.07 309.0 3670 2585 1494 4093 75.6 14.1 207 2006 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2586 1494 1494 4094 0 0 0 0 0 0 26.79 26.79 26.79 8.48 44.40

2065 2.07 309.0 3668 2586 1492 4094 66.9 14.5 213 2073 0.00 2.72 0.00 0.000 2564 0.000 0.039 3669 1522 1492 1492 4094 0 0 0 0 0 0 26.81 26.49 26.82 8.48 44.72

2089 2.07 309.0 3668 1522 1493 4094 63.6 13.9 217 2097 0.00 2.75 0.00 0.000 3078 0.000 0.054 3669 2570 1493 1493 4094 0 0 0 0 0 0 26.62 26.46 26.63 8.48 45.11

2205 2.07 309.0 3668 2566 1489 4094 50.1 13.6 224 2226 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2566 1487 1487 4094 0 0 0 0 0 0 26.76 26.77 26.76 8.48 45.62

2339 2.07 309.0 3668 2566 1484 4094 33.4 12.1 231 2361 0.00 2.65 0.00 0.000 2564 0.000 0.041 3669 1522 1476 1476 4094 0 0 0 0 0 0 26.72 26.46 26.73 8.49 44.32

2399 2.07 309.0 3670 1522 1481 4094 26.7 11.2 234 2422 0.00 2.78 0.00 0.000 3078 0.000 0.055 3669 2587 1481 1481 4094 0 0 0 0 0 0 26.54 26.43 26.58 8.47 44.21

2535 2.07 309.0 3667 2587 1476 4094 11.0 12.4 241 2540 0.00 0.00 0.00 0.000 2054 0.000 0.000 3669 2587 1476 1476 4095 0 0 0 0 0 0 26.71 26.70 26.70 8.48 44.05

2594 2.09 322.9 3668 2587 1476 4095 3.3 9.0 248 2602 0.00 3.05 0.00 0.000 2308 0.000 0.092 3672 3688 1475 1475 4095 0 0 0 0 0 0 26.77 26.42 26.77 8.47 43.93

2611 end climb: SURFACE_DEPTH_REACHED

state 2611 begin surface coast

2635 end surface coast: CONTROL_FINISHED_OK

state 2635 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0
MISSION	23	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING	0	HEAD_ERRBAND	30	ALTIM_PING_DEPTH	90
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	5650	R_PORT_OVSHOOT	48	ALTIM_PULSE	6
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	17	ALTIM_SENSITIVITY	2
D_TGT	180	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	250	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3765	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	1850	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	180	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	60	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	90	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	3175	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	100	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	45	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	15	PRESSURE_YINT	-51.021927	SEABIRD_C_I	-0.0032838252
RHO	1.0256	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	74692	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	0	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	2	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	50	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	120418,084840,4743.0088,-12224.6436,72,0.9,87,16.3,0.0,0.0,9,4.6	TGT_NAME	SW
_CALLS	5	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.93	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120418,090625,4743.0269,-12224.7734,7,0.9,48,16.3,0.0,0.0,9,3.0	MHEAD_RNG_PITCHd_Wd	165.6,976,-24.1,-10.000,-26.74,1498
SPEED_LIMITS	0.100,0.198	D_GRID	178

FINISH	0.1,0.999823	_24V_AH	23.96,1.069
SM_CCo	2677,2.15,0.083,0,0,1467,350.89	_10V_AH	10.22,2.585
SM_GC	3.52,35.00,2.72,2.15,0.027,0.037,0.083,240,2593,1467,-9.16,1.69,350.89,0,0,0,0,0,0,26.56,26.57,25.81	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,120418,074715	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047187,0.818657	MEM	312872
HUMID	43.85	DATA_FILE_SIZE	7039,255
INTERNAL_PRESSURE	8.38279	CAP_FILE_SIZE	91293,0
TCM_TEMP	7.70	CFSIZE	1023623168,1019920384
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	13.1,999.0	GPS	120418,095214,4742.476,-12225.052,18,0.9,28,16.3,0.0,352.9,9,4.8
SC_FREEKB	3905152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	76	137	251.74	nil	0	0	0.00
Roll_motor	67	91	148.08	nil	0	0	0.00
VBD_pump_during_apogee	32	2153	1654.98	nil	0	0	0.00
VBD_pump_during_surface	2	83	4.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	131	103	324.18	nil	0	0	0.00
Iridium_during_connect	77	160	298.73	SciCon	2657	69	4454.92
Iridium_during_xfer	522	223	2794.24	nil	0	0	0.00
Transponder_ping	123	420	1240.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	49	50	25.31
TT8	0	0	0.00
LPSleep	1211	2	27.12
TT8_Active	219	19	44.39
TT8_Sampling	2269	39	923.05
TT8_CF8	53	45	25.04
TT8_Kalman	0	0	0.00
Analog_circuits	598	12	73.40
GPS_charging	0	0	0.00
Compass	372	5	19.06
RAFOS	0	0	0.00
Transponder	1389	30	425.97

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
7	-1.75	-97.5	241	2609	1468	3404	0.0	0.0	0	11	0.00	0.00	-2.83	0.000	16390	0.000	0.000	239	2609	1961	1961	4094	0	0	0	0	0	0	26.34	25.17	26.34	8.47	44.44
12	-1.75	-97.5	233	2608	1964	4094	0.0	0.0	0	47	29.70	2.70	0.00	0.000	2820	0.138	0.032	2597	1530	1960	1960	4095	0	0	0	0	0	0	25.90	26.02	26.00	8.57	45.11
129	-1.75	-97.5	2603	1530	1968	4095	27.6	-17.6	20	137	0.00	2.85	0.00	0.000	1030	0.000	0.059	2602	2591	1974	1974	4094	0	0	0	0	0	0	26.20	26.10	26.20	8.57	44.92
195	-1.75	-97.5	2601	2591	1973	4094	39.9	-19.3	27	196	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2591	1971	1971	4094	0	0	0	0	0	0	26.51	26.52	26.52	8.58	44.68
255	-1.75	-97.5	2602	2592	1977	4094	51.4	-19.2	33	263	0.00	2.75	0.00	0.000	516	0.000	0.037	2602	1531	1975	1975	4095	0	0	0	0	0	0	26.56	26.25	26.58	8.57	44.60
410	-1.75	-97.5	2603	1531	1985	4095	76.4	-17.7	52	432	0.00	2.80	0.00	0.000	1030	0.000	0.060	2602	2591	1981	1981	4094	0	0	0	0	0	0	26.43	26.31	26.44	8.57	44.09
550	-1.75	-97.5	2602	2591	1987	4094	102.0	-18.8	59	573	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2587	1985	1985	4094	0	0	0	0	0	0	26.58	26.60	26.60	8.58	44.01
696	-1.75	-97.5	2603	2591	1992	4094	128.8	-18.7	66	719	0.00	2.70	0.00	0.000	516	0.000	0.038	2602	1532	1993	1993	4094	0	0	0	0	0	0	26.58	26.34	26.59	8.58	43.81
780	-1.75	-97.5	2602	1530	1997	4094	143.6	-17.7	70	803	0.00	2.72	0.00	0.000	1030	0.000	0.056	2602	2570	1997	1997	4094	0	0	0	0	0	0	26.41	26.34	26.44	8.59	44.32
924	-1.75	-97.5	2602	2571	2004	4094	171.3	-20.8	77	948	0.00	3.10	0.00	0.000	260	0.000	0.090	2602	3691	2005	2005	4094	0	0	0	0	0	0	26.57	26.28	26.58	8.59	43.54
968	end dive: TARGET_DEPTH_EXCEEDED
state	968	begin apogee
973	-0.33	0.0	2603	2604	2004	4088	181.2	-21.2	79	989	5.15	0.00	9.18	2.153	10244	0.100	0.000	3051	2600	1857	1857	4095	0	0	0	0	0	0	26.27	25.75	24.19	8.59	43.14
990	end apogee: CONTROL_FINISHED_OK
state	991	begin climb
991	1.75	97.5	3053	2604	1849	4095	189.8	0.0	82	1011	6.45	2.75	6.60	1.922	10756	0.045	0.037	3675	1524	1741	1741	4094	0	0	0	0	0	0	25.97	25.89	23.96	8.57	43.58
1183	1.95	228.7	3669	1521	1747	4094	183.7	1.0	114	1197	0.00	2.88	8.70	2.084	11270	0.000	0.054	3669	2598	1602	1602	4094	0	0	0	0	0	0	26.12	26.06	24.06	8.55	43.06
1255	1.97	245.4	3668	2599	1602	4094	178.3	8.9	122	1263	0.00	2.83	2.53	0.560	10756	0.000	0.041	3665	1513	1594	1594	4094	0	0	0	0	0	0	26.17	25.43	24.20	8.52	43.69
1309	2.07	309.0	3668	1517	1591	4094	174.3	5.6	131	1323	0.00	2.95	5.05	1.572	11270	0.000	0.061	3664	2603	1519	1519	4094	0	0	0	0	0	0	26.01	25.94	24.22	8.51	43.85
1381	2.07	309.0	3670	2602	1517	4094	165.3	13.7	139	1389	0.00	2.80	0.00	0.000	2564	0.000	0.034	3671	1513	1508	1508	4093	0	0	0	0	0	0	26.25	25.96	26.26	8.50	43.46
1399	2.07	309.0	3670	1517	1516	4093	163.1	13.5	142	1407	0.00	2.90	0.03	0.005	11270	0.000	0.059	3664	2589	1516	1516	4094	0	0	0	0	0	0	26.05	25.96	26.06	8.50	43.46
1465	2.07	309.0	3669	2589	1515	4094	155.5	11.3	149	1473	0.00	2.78	0.00	0.000	2564	0.000	0.038	3672	1517	1514	1514	4095	0	0	0	0	0	0	26.39	26.06	26.39	8.50	43.54
1489	2.07	309.0	3670	1521	1514	4095	152.9	10.8	153	1497	0.00	2.88	0.00	0.000	3078	0.000	0.054	3667	2596	1514	1514	4095	0	0	0	0	0	0	26.15	26.09	26.17	8.49	43.81
1555	2.07	309.0	3668	2598	1513	4095	141.3	19.1	160	1556	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2596	1511	1511	4094	0	0	0	0	0	0	26.50	26.51	26.51	8.50	44.21
1615	2.07	309.0	3670	2596	1509	4094	131.8	15.1	166	1616	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2597	1509	1509	4094	0	0	0	0	0	0	26.55	26.56	26.56	8.50	43.50
1675	2.07	309.0	3668	2597	1508	4094	122.5	16.3	172	1676	0.00	0.00	0.00	0.000	2054	0.000	0.000	3667	2596	1506	1506	4094	0	0	0	0	0	0	26.60	26.62	26.61	8.49	44.17
1735	2.07	309.0	3670	2596	1504	4094	113.8	14.3	178	1736	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2596	1504	1504	4094	0	0	0	0	0	0	26.65	26.65	26.65	8.49	44.25
1795	2.07	309.0	3670	2597	1502	4094	104.9	15.0	184	1796	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2596	1502	1502	4094	0	0	0	0	0	0	26.69	26.70	26.70	8.49	44.40
1855	2.07	309.0	3670	2596	1499	4094	96.5	13.1	190	1856	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2596	1499	1499	4094	0	0	0	0	0	0	26.72	26.73	26.73	8.46	44.52
1915	2.07	309.0	3668	2596	1499	4094	88.0	14.4	196	1923	0.00	2.75	0.00	0.000	2564	0.000	0.040	3669	1527	1497	1497	4095	0	0	0	0	0	0	26.75	26.44	26.76	8.49	44.80
1939	2.07	309.0	3668	1527	1498	4095	84.8	13.5	200	1947	0.00	2.80	0.00	0.000	3078	0.000	0.054	3669	2585	1491	1491	4093	0	0	0	0	0	0	26.53	26.42	26.55	8.49	44.60
2005	2.07	309.0	3670	2585	1494	4093	75.6	14.1	207	2006	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2586	1494	1494	4094	0	0	0	0	0	0	26.79	26.79	26.79	8.48	44.40
2065	2.07	309.0	3668	2586	1492	4094	66.9	14.5	213	2073	0.00	2.72	0.00	0.000	2564	0.000	0.039	3669	1522	1492	1492	4094	0	0	0	0	0	0	26.81	26.49	26.82	8.48	44.72
2089	2.07	309.0	3668	1522	1493	4094	63.6	13.9	217	2097	0.00	2.75	0.00	0.000	3078	0.000	0.054	3669	2570	1493	1493	4094	0	0	0	0	0	0	26.62	26.46	26.63	8.48	45.11
2205	2.07	309.0	3668	2566	1489	4094	50.1	13.6	224	2226	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2566	1487	1487	4094	0	0	0	0	0	0	26.76	26.77	26.76	8.48	45.62
2339	2.07	309.0	3668	2566	1484	4094	33.4	12.1	231	2361	0.00	2.65	0.00	0.000	2564	0.000	0.041	3669	1522	1476	1476	4094	0	0	0	0	0	0	26.72	26.46	26.73	8.49	44.32
2399	2.07	309.0	3670	1522	1481	4094	26.7	11.2	234	2422	0.00	2.78	0.00	0.000	3078	0.000	0.055	3669	2587	1481	1481	4094	0	0	0	0	0	0	26.54	26.43	26.58	8.47	44.21
2535	2.07	309.0	3667	2587	1476	4094	11.0	12.4	241	2540	0.00	0.00	0.00	0.000	2054	0.000	0.000	3669	2587	1476	1476	4095	0	0	0	0	0	0	26.71	26.70	26.70	8.48	44.05
2594	2.09	322.9	3668	2587	1476	4095	3.3	9.0	248	2602	0.00	3.05	0.00	0.000	2308	0.000	0.092	3672	3688	1475	1475	4095	0	0	0	0	0	0	26.77	26.42	26.77	8.47	43.93
2611	end climb: SURFACE_DEPTH_REACHED
state	2611	begin surface coast
2635	end surface coast: CONTROL_FINISHED_OK
state	2635	begin surface