Glider dive log

Shilshole 14Mar17 * SG401 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0168193 ROLL_DEG 60 ALTIM_TOP_PING_RANGE 20

MISSION 19 HD_C 5.8179498e-06 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 20 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 11

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 31 ALTIM_PULSE 1

D_ABORT 200 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2082 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0016 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2530 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 175 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 12 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.554909 SEABIRD_C_H 1.1284475

MASS 73414 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE -10236

HD_A 0.00357857 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0016 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00357857 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.0168193 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.8179498e-06 PRESSURE_YINT -50.554909 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 20 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE -10236 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2530 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2082 MASS 73414 ROLL_DEG 60 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 115 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE5 151 MISSION 19 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 20 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 200 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150317,100409,4743.3506,-12224.9600,13,0.9,31,16.3,0.0,0.0,10,5.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.113975,-0.188770

_SM_DEPTHo 1.97 KALMAN_X 840.067322,28.291134,330.901001,-1543.961060,-202.983307

_SM_ANGLEo -57.6 KALMAN_Y 1011.910400,285.853882,799.625000,-3054.147949,-343.417847

GPS2 150317,100841,4743.3335,-12224.9912,4,0.9,21,16.3,0.0,0.0,10,4.9 MHEAD_RNG_PITCHd_Wd 132.6,1562,-19.9,-10.000,-24.39,2610

SPEED_LIMITS 0.100,0.221 D_GRID 178

Post-dive calculations and measurements:

FINISH 0.3,1.000569 _24V_AH 23.43,5.198

SM_CCo 2440,5.35,0.438,0,0,1729,300.51 _10V_AH 9.29,6.286

SM_GC 3.50,29.73,0.00,5.35,0.027,0.000,0.438,243,1888,1729,-7.14,-0.55,300.51,0,0,0,0,0,0,26.47,26.82,25.47 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,150317,091916 FG_AHR_10Vo 0.000

TT8_MAMPS 0.053179,0.278628 MEM 322244

HUMID 35.62 DATA_FILE_SIZE 17764,214

INTERNAL_PRESSURE 10.1211 CAP_FILE_SIZE 51756,13

TCM_TEMP 7.50 CFSIZE 1024409600,1018118144

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

ALTIM_TOP_PING 19.3,4.6 GPS 150317,105131,4742.802,-12224.961,13,0.8,62,16.3,0.0,0.0,10,5.0

ALTIM_BOTTOM_PING 101.8,2.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 64 127 192.10 SBE_CT 144 24 81.05

Roll_motor 40 78 75.46 AA4330 274 33 212.31

VBD_pump_during_apogee 29 1946 1339.98 WL_blue_red_Chl 460 105 1131.72

VBD_pump_during_surface 5 437 54.85 SAT1000 1132 17 472.17

VBD_valve 0 0 0.00 SAT1001 1984 17 827.53

Iridium_during_init 22 103 54.04 nil 0 0 0.00

Iridium_during_connect 35 160 132.27 nil 0 0 0.00

Iridium_during_xfer 143 223 748.61 nil 0 0 0.00

Transponder_ping 1 420 9.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 50 10.33

TT8 0 0 0.00

LPSleep 0 0 0.00

TT8_Active 300 19 55.23

TT8_Sampling 2308 39 853.72

TT8_CF8 113 45 48.24

TT8_Kalman 33 81 25.57

Analog_circuits 801 12 89.34

GPS_charging 0 0 0.00

Compass 2023 15 282.01

RAFOS 0 0 0.00

Transponder 7 30 1.99

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -1.93 -171.1 244 1894 1729 4095 0.0 0.0 0 31 0.00 0.00 -3.92 0.000 16390 0.000 0.000 242 1895 2289 2289 4094 0 0 0 0 0 0 26.43 24.72 26.43 10.23 35.82

33 -1.93 -171.1 243 1895 2290 4095 2.1 0.0 1 62 21.02 3.60 0.00 0.000 2308 0.128 0.067 1901 3197 2292 2292 4094 0 0 0 0 0 0 25.66 25.66 25.76 10.35 35.90

122 -1.93 -171.1 1900 3197 2295 4095 26.0 -18.9 9 136 0.00 3.35 0.00 0.000 1030 0.000 0.031 1901 1899 2295 2295 4094 0 0 0 0 0 0 25.96 25.92 25.99 10.36 36.33

187 -1.93 -171.1 1901 1898 2298 4095 36.1 -15.2 15 200 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1899 2297 2297 4094 0 0 0 0 0 0 26.32 26.33 26.33 10.36 35.98

251 -1.93 -171.1 1901 1898 2300 4095 46.3 -16.0 21 264 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1899 2299 2299 4094 0 0 0 0 0 0 26.38 26.40 26.39 10.36 35.11

315 -1.93 -171.1 1901 1898 2302 4095 56.3 -15.4 27 328 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1899 2301 2301 4094 0 0 0 0 0 0 26.44 26.45 26.45 10.36 35.19

379 -1.93 -171.1 1901 1899 2305 4095 66.8 -16.7 33 396 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1898 2304 2304 4095 0 0 0 0 0 0 26.48 26.50 26.49 10.36 35.78

447 -1.93 -171.1 1901 1900 2307 4094 78.6 -17.2 39 461 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1899 2306 2306 4094 0 0 0 0 0 0 26.52 26.54 26.53 10.37 35.70

511 -1.93 -171.1 1901 1898 2309 4095 88.9 -15.9 45 529 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1898 2309 2309 4094 0 0 0 0 0 0 26.55 26.58 26.57 10.37 35.07

579 -1.93 -171.1 1900 1899 2312 4094 99.9 -16.7 51 599 0.00 3.53 0.00 0.000 516 0.000 0.075 1901 599 2312 2312 4094 0 0 0 0 0 0 26.59 26.13 26.60 10.36 35.07

630 -1.93 -171.1 1901 599 2314 4095 109.6 -18.9 55 648 0.00 3.22 0.00 0.000 1030 0.000 0.034 1901 1886 2314 2314 4094 0 0 0 0 0 0 26.32 26.32 26.36 10.37 34.91

699 -1.93 -171.1 1901 1887 2317 4094 122.0 -17.3 61 712 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1886 2316 2316 4094 0 0 0 0 0 0 26.63 26.65 26.65 10.38 34.91

763 -1.93 -171.1 1901 1886 2319 4095 133.0 -17.1 67 780 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1886 2318 2318 4095 0 0 0 0 0 0 26.65 26.67 26.67 10.38 34.99

831 -1.93 -171.1 1901 1887 2321 4094 144.9 -17.2 73 849 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1887 2321 2321 4094 0 0 0 0 0 0 26.67 26.70 26.69 10.38 35.35

869 end dive: TARGET_DEPTH_EXCEEDED

state 869 begin apogee

872 -0.42 0.0 1901 1888 2323 4094 151.4 -16.7 76 905 5.45 0.00 13.55 1.947 10244 0.080 0.000 2386 1887 2085 2085 4094 0 0 0 0 0 0 26.27 24.98 23.79 10.38 34.91

906 end apogee: CONTROL_FINISHED_OK

state 906 begin climb

907 1.93 171.1 2386 1888 2086 4094 154.9 0.0 78 936 7.88 0.00 12.35 1.909 11270 0.037 0.000 3133 1888 1879 1879 4094 0 0 0 0 0 0 25.91 26.08 23.43 10.33 34.80

986 1.98 202.6 3133 1889 1880 4094 150.1 8.8 85 1001 0.00 0.00 3.47 0.946 8198 0.000 0.000 3133 1888 1849 1849 4094 0 0 0 0 0 0 25.96 24.84 23.68 10.29 35.03

1051 1.98 202.6 3134 1889 1849 4094 143.9 10.1 91 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 1888 1847 1847 4094 0 0 0 0 0 0 26.07 26.08 26.08 10.28 34.91

1116 1.98 202.6 3134 1889 1847 4094 137.2 10.2 97 1130 0.00 3.62 0.00 0.000 516 0.000 0.079 3133 594 1846 1846 4094 0 0 0 0 0 0 26.19 25.73 26.20 10.28 35.03

1171 1.98 202.6 3134 595 1846 4094 130.9 11.9 102 1186 0.00 3.33 0.00 0.000 1030 0.000 0.031 3134 1921 1844 1844 4094 0 0 0 0 0 0 26.01 25.98 26.03 10.28 35.78

1237 1.98 202.6 3133 1922 1845 4094 124.0 10.2 108 1251 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 1921 1843 1843 4094 0 0 0 0 0 0 26.33 26.34 26.34 10.28 35.11

1301 1.98 202.6 3134 1922 1844 4094 117.4 10.1 114 1315 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 1921 1841 1841 4094 0 0 0 0 0 0 26.39 26.41 26.41 10.28 34.99

1365 1.98 202.6 3133 1922 1841 4094 111.0 10.2 120 1383 0.00 3.42 0.00 0.000 260 0.000 0.062 3134 3187 1840 1840 4094 0 0 0 0 0 0 26.44 25.99 26.46 10.27 35.19

1395 1.98 202.6 3134 3187 1841 4094 107.7 10.9 122 1413 0.00 3.28 0.00 0.000 1030 0.000 0.033 3134 1913 1839 1839 4094 0 0 0 0 0 0 26.16 26.11 26.19 10.28 35.11

1464 1.99 207.5 3133 1914 1839 4094 100.8 9.8 128 1479 0.10 3.60 0.00 0.000 2564 0.078 0.077 3150 601 1838 1838 4094 0 0 0 0 0 0 26.27 26.01 26.29 10.27 34.99

1529 1.99 207.5 3150 601 1837 4094 93.7 11.3 134 1547 0.00 3.20 0.00 0.000 1030 0.000 0.031 3150 1892 1836 1836 4094 0 0 0 0 0 0 26.28 26.25 26.31 10.27 34.87

1598 1.99 207.5 3150 1893 1836 4094 86.1 10.8 140 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1893 1834 1834 4094 0 0 0 0 0 0 26.57 26.58 26.58 10.27 35.62

1666 1.99 207.5 3150 1893 1835 4095 78.8 10.8 146 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1894 1833 1833 4094 0 0 0 0 0 0 26.60 26.61 26.61 10.27 35.39

1733 1.99 207.5 3151 1893 1832 4095 71.0 11.5 152 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1893 1831 1831 4094 0 0 0 0 0 0 26.63 26.64 26.64 10.26 35.23

1801 1.99 207.5 3150 1893 1831 4095 64.0 10.1 158 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1893 1829 1829 4094 0 0 0 0 0 0 26.65 26.67 26.67 10.26 35.19

1865 1.99 207.5 3150 1894 1829 4094 57.5 10.2 164 1879 0.00 3.55 0.00 0.000 516 0.000 0.076 3150 595 1828 1828 4094 0 0 0 0 0 0 26.67 26.16 26.68 10.26 35.07

1959 1.99 207.5 3150 595 1826 4095 45.5 13.8 173 1973 0.00 3.17 0.00 0.000 1030 0.000 0.031 3150 1887 1825 1825 4094 0 0 0 0 0 0 26.44 26.41 26.47 10.26 35.78

2024 1.99 207.5 3150 1887 1824 4095 38.1 10.8 179 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1823 1823 4094 0 0 0 0 0 0 26.71 26.73 26.72 10.27 35.27

2088 1.99 207.5 3150 1886 1822 4095 31.2 10.7 185 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1821 1821 4094 0 0 0 0 0 0 26.73 26.74 26.74 10.26 35.19

2153 1.99 207.5 3150 1887 1821 4095 24.1 11.1 191 2167 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1820 1820 4094 0 0 0 0 0 0 26.74 26.76 26.76 10.26 35.15

2219 1.99 207.5 3150 1888 1819 4094 16.9 11.1 197 2233 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1818 1818 4094 0 0 0 0 0 0 26.76 26.77 26.77 10.26 35.50

2283 2.00 215.2 3151 1887 1817 4095 10.6 9.7 203 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1817 1817 4094 0 0 0 0 0 0 26.77 26.79 26.79 10.25 35.11

2347 2.02 229.5 3150 1888 1817 4094 4.6 9.4 209 2364 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 1887 1815 1815 4094 0 0 0 0 0 0 26.79 26.80 26.79 10.26 35.82

2375 end climb: SURFACE_DEPTH_REACHED

state 2375 begin surface coast

2405 end surface coast: CONTROL_FINISHED_OK

state 2405 begin surface

ID	401	HD_B	0.0168193	ROLL_DEG	60	ALTIM_TOP_PING_RANGE	20
MISSION	19	HD_C	5.8179498e-06	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	20	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	11
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	31	ALTIM_PULSE	1
D_ABORT	200	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2082	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0016	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2530	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	175	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	12	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.554909	SEABIRD_C_H	1.1284475
MASS	73414	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	-10236
HD_A	0.00357857	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150317,100409,4743.3506,-12224.9600,13,0.9,31,16.3,0.0,0.0,10,5.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.113975,-0.188770
_SM_DEPTHo	1.97	KALMAN_X	840.067322,28.291134,330.901001,-1543.961060,-202.983307
_SM_ANGLEo	-57.6	KALMAN_Y	1011.910400,285.853882,799.625000,-3054.147949,-343.417847
GPS2	150317,100841,4743.3335,-12224.9912,4,0.9,21,16.3,0.0,0.0,10,4.9	MHEAD_RNG_PITCHd_Wd	132.6,1562,-19.9,-10.000,-24.39,2610
SPEED_LIMITS	0.100,0.221	D_GRID	178

FINISH	0.3,1.000569	_24V_AH	23.43,5.198
SM_CCo	2440,5.35,0.438,0,0,1729,300.51	_10V_AH	9.29,6.286
SM_GC	3.50,29.73,0.00,5.35,0.027,0.000,0.438,243,1888,1729,-7.14,-0.55,300.51,0,0,0,0,0,0,26.47,26.82,25.47	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,150317,091916	FG_AHR_10Vo	0.000
TT8_MAMPS	0.053179,0.278628	MEM	322244
HUMID	35.62	DATA_FILE_SIZE	17764,214
INTERNAL_PRESSURE	10.1211	CAP_FILE_SIZE	51756,13
TCM_TEMP	7.50	CFSIZE	1024409600,1018118144
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.3,4.6	GPS	150317,105131,4742.802,-12224.961,13,0.8,62,16.3,0.0,0.0,10,5.0
ALTIM_BOTTOM_PING	101.8,2.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	64	127	192.10	SBE_CT	144	24	81.05
Roll_motor	40	78	75.46	AA4330	274	33	212.31
VBD_pump_during_apogee	29	1946	1339.98	WL_blue_red_Chl	460	105	1131.72
VBD_pump_during_surface	5	437	54.85	SAT1000	1132	17	472.17
VBD_valve	0	0	0.00	SAT1001	1984	17	827.53
Iridium_during_init	22	103	54.04	nil	0	0	0.00
Iridium_during_connect	35	160	132.27	nil	0	0	0.00
Iridium_during_xfer	143	223	748.61	nil	0	0	0.00
Transponder_ping	1	420	9.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	50	10.33
TT8	0	0	0.00
LPSleep	0	0	0.00
TT8_Active	300	19	55.23
TT8_Sampling	2308	39	853.72
TT8_CF8	113	45	48.24
TT8_Kalman	33	81	25.57
Analog_circuits	801	12	89.34
GPS_charging	0	0	0.00
Compass	2023	15	282.01
RAFOS	0	0	0.00
Transponder	7	30	1.99

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-1.93	-171.1	244	1894	1729	4095	0.0	0.0	0	31	0.00	0.00	-3.92	0.000	16390	0.000	0.000	242	1895	2289	2289	4094	0	0	0	0	0	0	26.43	24.72	26.43	10.23	35.82
33	-1.93	-171.1	243	1895	2290	4095	2.1	0.0	1	62	21.02	3.60	0.00	0.000	2308	0.128	0.067	1901	3197	2292	2292	4094	0	0	0	0	0	0	25.66	25.66	25.76	10.35	35.90
122	-1.93	-171.1	1900	3197	2295	4095	26.0	-18.9	9	136	0.00	3.35	0.00	0.000	1030	0.000	0.031	1901	1899	2295	2295	4094	0	0	0	0	0	0	25.96	25.92	25.99	10.36	36.33
187	-1.93	-171.1	1901	1898	2298	4095	36.1	-15.2	15	200	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1899	2297	2297	4094	0	0	0	0	0	0	26.32	26.33	26.33	10.36	35.98
251	-1.93	-171.1	1901	1898	2300	4095	46.3	-16.0	21	264	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1899	2299	2299	4094	0	0	0	0	0	0	26.38	26.40	26.39	10.36	35.11
315	-1.93	-171.1	1901	1898	2302	4095	56.3	-15.4	27	328	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1899	2301	2301	4094	0	0	0	0	0	0	26.44	26.45	26.45	10.36	35.19
379	-1.93	-171.1	1901	1899	2305	4095	66.8	-16.7	33	396	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1898	2304	2304	4095	0	0	0	0	0	0	26.48	26.50	26.49	10.36	35.78
447	-1.93	-171.1	1901	1900	2307	4094	78.6	-17.2	39	461	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1899	2306	2306	4094	0	0	0	0	0	0	26.52	26.54	26.53	10.37	35.70
511	-1.93	-171.1	1901	1898	2309	4095	88.9	-15.9	45	529	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1898	2309	2309	4094	0	0	0	0	0	0	26.55	26.58	26.57	10.37	35.07
579	-1.93	-171.1	1900	1899	2312	4094	99.9	-16.7	51	599	0.00	3.53	0.00	0.000	516	0.000	0.075	1901	599	2312	2312	4094	0	0	0	0	0	0	26.59	26.13	26.60	10.36	35.07
630	-1.93	-171.1	1901	599	2314	4095	109.6	-18.9	55	648	0.00	3.22	0.00	0.000	1030	0.000	0.034	1901	1886	2314	2314	4094	0	0	0	0	0	0	26.32	26.32	26.36	10.37	34.91
699	-1.93	-171.1	1901	1887	2317	4094	122.0	-17.3	61	712	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1886	2316	2316	4094	0	0	0	0	0	0	26.63	26.65	26.65	10.38	34.91
763	-1.93	-171.1	1901	1886	2319	4095	133.0	-17.1	67	780	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1886	2318	2318	4095	0	0	0	0	0	0	26.65	26.67	26.67	10.38	34.99
831	-1.93	-171.1	1901	1887	2321	4094	144.9	-17.2	73	849	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1887	2321	2321	4094	0	0	0	0	0	0	26.67	26.70	26.69	10.38	35.35
869	end dive: TARGET_DEPTH_EXCEEDED
state	869	begin apogee
872	-0.42	0.0	1901	1888	2323	4094	151.4	-16.7	76	905	5.45	0.00	13.55	1.947	10244	0.080	0.000	2386	1887	2085	2085	4094	0	0	0	0	0	0	26.27	24.98	23.79	10.38	34.91
906	end apogee: CONTROL_FINISHED_OK
state	906	begin climb
907	1.93	171.1	2386	1888	2086	4094	154.9	0.0	78	936	7.88	0.00	12.35	1.909	11270	0.037	0.000	3133	1888	1879	1879	4094	0	0	0	0	0	0	25.91	26.08	23.43	10.33	34.80
986	1.98	202.6	3133	1889	1880	4094	150.1	8.8	85	1001	0.00	0.00	3.47	0.946	8198	0.000	0.000	3133	1888	1849	1849	4094	0	0	0	0	0	0	25.96	24.84	23.68	10.29	35.03
1051	1.98	202.6	3134	1889	1849	4094	143.9	10.1	91	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	1888	1847	1847	4094	0	0	0	0	0	0	26.07	26.08	26.08	10.28	34.91
1116	1.98	202.6	3134	1889	1847	4094	137.2	10.2	97	1130	0.00	3.62	0.00	0.000	516	0.000	0.079	3133	594	1846	1846	4094	0	0	0	0	0	0	26.19	25.73	26.20	10.28	35.03
1171	1.98	202.6	3134	595	1846	4094	130.9	11.9	102	1186	0.00	3.33	0.00	0.000	1030	0.000	0.031	3134	1921	1844	1844	4094	0	0	0	0	0	0	26.01	25.98	26.03	10.28	35.78
1237	1.98	202.6	3133	1922	1845	4094	124.0	10.2	108	1251	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	1921	1843	1843	4094	0	0	0	0	0	0	26.33	26.34	26.34	10.28	35.11
1301	1.98	202.6	3134	1922	1844	4094	117.4	10.1	114	1315	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	1921	1841	1841	4094	0	0	0	0	0	0	26.39	26.41	26.41	10.28	34.99
1365	1.98	202.6	3133	1922	1841	4094	111.0	10.2	120	1383	0.00	3.42	0.00	0.000	260	0.000	0.062	3134	3187	1840	1840	4094	0	0	0	0	0	0	26.44	25.99	26.46	10.27	35.19
1395	1.98	202.6	3134	3187	1841	4094	107.7	10.9	122	1413	0.00	3.28	0.00	0.000	1030	0.000	0.033	3134	1913	1839	1839	4094	0	0	0	0	0	0	26.16	26.11	26.19	10.28	35.11
1464	1.99	207.5	3133	1914	1839	4094	100.8	9.8	128	1479	0.10	3.60	0.00	0.000	2564	0.078	0.077	3150	601	1838	1838	4094	0	0	0	0	0	0	26.27	26.01	26.29	10.27	34.99
1529	1.99	207.5	3150	601	1837	4094	93.7	11.3	134	1547	0.00	3.20	0.00	0.000	1030	0.000	0.031	3150	1892	1836	1836	4094	0	0	0	0	0	0	26.28	26.25	26.31	10.27	34.87
1598	1.99	207.5	3150	1893	1836	4094	86.1	10.8	140	1615	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1893	1834	1834	4094	0	0	0	0	0	0	26.57	26.58	26.58	10.27	35.62
1666	1.99	207.5	3150	1893	1835	4095	78.8	10.8	146	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1894	1833	1833	4094	0	0	0	0	0	0	26.60	26.61	26.61	10.27	35.39
1733	1.99	207.5	3151	1893	1832	4095	71.0	11.5	152	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1893	1831	1831	4094	0	0	0	0	0	0	26.63	26.64	26.64	10.26	35.23
1801	1.99	207.5	3150	1893	1831	4095	64.0	10.1	158	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1893	1829	1829	4094	0	0	0	0	0	0	26.65	26.67	26.67	10.26	35.19
1865	1.99	207.5	3150	1894	1829	4094	57.5	10.2	164	1879	0.00	3.55	0.00	0.000	516	0.000	0.076	3150	595	1828	1828	4094	0	0	0	0	0	0	26.67	26.16	26.68	10.26	35.07
1959	1.99	207.5	3150	595	1826	4095	45.5	13.8	173	1973	0.00	3.17	0.00	0.000	1030	0.000	0.031	3150	1887	1825	1825	4094	0	0	0	0	0	0	26.44	26.41	26.47	10.26	35.78
2024	1.99	207.5	3150	1887	1824	4095	38.1	10.8	179	2037	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1823	1823	4094	0	0	0	0	0	0	26.71	26.73	26.72	10.27	35.27
2088	1.99	207.5	3150	1886	1822	4095	31.2	10.7	185	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1821	1821	4094	0	0	0	0	0	0	26.73	26.74	26.74	10.26	35.19
2153	1.99	207.5	3150	1887	1821	4095	24.1	11.1	191	2167	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1820	1820	4094	0	0	0	0	0	0	26.74	26.76	26.76	10.26	35.15
2219	1.99	207.5	3150	1888	1819	4094	16.9	11.1	197	2233	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1818	1818	4094	0	0	0	0	0	0	26.76	26.77	26.77	10.26	35.50
2283	2.00	215.2	3151	1887	1817	4095	10.6	9.7	203	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1817	1817	4094	0	0	0	0	0	0	26.77	26.79	26.79	10.25	35.11
2347	2.02	229.5	3150	1888	1817	4094	4.6	9.4	209	2364	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	1887	1815	1815	4094	0	0	0	0	0	0	26.79	26.80	26.79	10.26	35.82
2375	end climb: SURFACE_DEPTH_REACHED
state	2375	begin surface coast
2405	end surface coast: CONTROL_FINISHED_OK
state	2405	begin surface