Glider dive log

Shilshole 02May17 * SG402 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.013 ROLL_DEG 55 ALTIM_TOP_PING_RANGE 20

MISSION 3 HD_C 2.4999999e-05 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 32 HEADING -1 C_ROLL_CLIMB 2278 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 25 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 20 ALTIM_PING_DELTA 0

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 12 ALTIM_PULSE 3

D_ABORT 210 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 4

D_NO_BLEED 210 SM_CC 350 ROLL_MAXERRORS 1 XPDR_VALID 0

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 50 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4045 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85000002 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 360 DEVICE4 -1

T_DIVE 33 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_MISSION 43 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 6 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 0 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 100940 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 97

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 48

USE_ICE -1 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 350 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3600 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2490 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

MAX_BUOY 400 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

SPEED_FACTOR 1 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -48.771183 SEABIRD_C_H 1.1416712

MASS 72342 PITCH_AD_RATE 50 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 280 COMPASS_USE 4

HD_A 0.0049999999 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 350

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 100 PITCH_AD_RATE 50 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 13 FERRY_MAX 45 PITCH_GAIN 12.7 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 350 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 0.0015 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 0.0049999999 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 3.3081022e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -48.771183 T_DIVE 33

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 25 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 43

CF8_MAXERRORS 20 ID 402 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 0 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 97 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 0

C_ROLL_CLIMB 2278 LOGGERDEVICE4 -1 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2550 MASS 72342 ROLL_DEG 55 USE_ICE -1

DBDW 0 MASS_COMP 0 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.85000002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 280 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 400 ROLL_TIMEOUT 20 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4045

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 12 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 3 SEABIRD_C_G -9.6809101 VBD_MIN 50

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 32 NAV_MODE 2 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 0 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FINISH 0 N_GPS 100940 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 0

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_J 2.9009848e-06

D_OFFGRID 100 PHONE_DEVICE 48 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030517,140952,4742.9009,-12224.5342,4,0.8,7,16.3,0.0,0.0,10,9.4 TGT_NAME SW

_CALLS 2 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.254634,-0.246456

_SM_DEPTHo 1.17 KALMAN_X -2960.167236,140.682236,165.447403,3028.460938,198.438660

_SM_ANGLEo -48.9 KALMAN_Y -417.069550,-1152.332642,463.308380,1205.017334,-39.642944

GPS2 030517,141821,4742.8945,-12224.4570,5,0.8,8,16.3,0.0,0.0,10,10.0 MHEAD_RNG_PITCHd_Wd 195.4,847,-12.7,-10.101,-16.08,5655

SPEED_LIMITS 0.101,0.354 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.2,1.020823 _10V_AH 10.45,2.370

SM_CCo 1778,0.00,0.000,0,0,2077,402.90 FG_AHR_24Vo 0.000

SM_GC 1.32,26.40,0.00,0.00,0.094,0.000,0.000,369,2277,2077,-6.61,0.00,402.90,0,0,0,0,0,0,26.78,27.05,26.82 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,030517,141503 MEM 323536

TT8_MAMPS 0.023219,0.167776 DATA_FILE_SIZE 10522,269

HUMID 39.36 CAP_FILE_SIZE 55888,0

INTERNAL_PRESSURE 10.3422 CFSIZE 1024409600,1018773504

TCM_TEMP 9.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 22 CURRENT 0.091,219.03,1

ALTIM_TOP_PING 19.7,19.6 GPS 030517,145023,4742.519,-12224.727,4,1.0,44,16.3,0.0,0.0,7,3.0

_24V_AH 24.14,4.640

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 57 469 649.98 SBE_CT 178 24 103.22

Roll_motor 6 206 31.34 nil 0 0 0.00

VBD_pump_during_apogee 46 5114 5753.96 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 66 103 165.09 nil 0 0 0.00

Iridium_during_connect 65 160 252.72 nil 0 0 0.00

Iridium_during_xfer 222 223 1195.73 nil 0 0 0.00

Transponder_ping 6 420 60.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 50 5.10

TT8 709 19 146.91

LPSleep 515 2 11.79

TT8_Active 263 19 54.61

TT8_Sampling 794 39 330.63

TT8_CF8 32 45 15.70

TT8_Kalman 33 81 28.59

Analog_circuits 556 12 69.79

GPS_charging 0 0 0.00

Compass 397 5 20.77

RAFOS 0 0 0.00

Transponder 8 30 2.51

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.57 -380.6 368 2282 2064 383 0.0 0.0 0 25 0.00 0.00 -8.12 0.000 16390 0.000 0.000 369 2283 3003 3003 467 0 0 0 0 0 0 26.74 25.49 26.75 10.40 40.07

27 -1.57 -380.6 368 2283 3003 467 1.2 0.0 1 52 20.35 0.00 0.00 0.000 2566 0.469 0.000 1975 2283 3005 3005 668 0 0 0 0 0 0 26.31 26.48 26.45 10.63 39.88

83 -1.57 -380.6 1974 2283 3006 660 14.0 -15.2 10 89 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3006 3006 682 0 0 0 0 0 0 26.74 26.75 26.75 10.62 39.60

119 -1.57 -380.6 1974 2283 3006 666 18.9 -12.8 16 125 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3007 3007 686 0 0 0 0 0 0 26.77 26.79 26.79 10.62 39.28

156 -1.57 -380.6 1974 2283 3008 675 23.7 -13.0 22 162 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3008 3008 695 0 0 0 0 0 0 26.81 26.82 26.82 10.62 39.60

192 -1.57 -380.6 1974 2283 3009 673 28.7 -13.4 28 198 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3009 3009 693 0 0 0 0 0 0 26.84 26.85 26.85 10.62 39.88

229 -1.57 -380.6 1974 2283 3009 680 33.7 -14.3 34 235 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3010 3010 699 0 0 0 0 0 0 26.86 26.88 26.88 10.61 38.77

267 -1.57 -380.6 1974 2283 3010 675 38.8 -13.5 40 273 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3011 3011 695 0 0 0 0 0 0 26.89 26.91 26.91 10.61 39.17

304 -1.57 -380.6 1975 2282 3011 680 43.9 -13.2 46 310 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3011 3011 700 0 0 0 0 0 0 26.91 26.94 26.93 10.61 38.93

340 -1.57 -380.6 1974 2283 3013 675 48.8 -13.4 52 346 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3013 3013 695 0 0 0 0 0 0 26.94 26.95 26.95 10.61 38.81

377 -1.57 -380.6 1974 2283 3013 682 53.8 -13.4 58 383 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2283 3013 3013 701 0 0 0 0 0 0 26.96 26.97 26.96 10.61 39.44

413 -1.57 -380.6 1974 2283 3013 676 58.7 -13.1 64 420 0.00 3.22 0.00 0.000 516 0.000 0.206 1975 1081 3014 3014 700 0 0 0 0 0 0 26.98 26.61 26.98 10.62 39.76

493 -1.57 -380.6 1974 1081 3016 672 70.5 -15.2 77 501 0.00 3.08 0.00 0.000 1030 0.000 0.137 1975 2278 3017 3017 699 0 0 0 0 0 0 26.79 26.67 26.82 10.61 39.05

531 -1.57 -380.6 1974 2278 3018 676 75.8 -13.9 83 537 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3017 3017 695 0 0 0 0 0 0 27.02 27.03 27.03 10.62 38.85

567 -1.57 -380.6 1974 2278 3018 679 80.4 -12.6 89 574 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3018 3018 702 0 0 0 0 0 0 27.03 27.05 27.05 10.62 39.76

604 -1.57 -380.6 1974 2278 3019 677 84.9 -11.8 95 610 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3019 3019 697 0 0 0 0 0 0 27.05 27.06 27.06 10.62 39.64

641 -1.57 -380.6 1974 2278 3020 675 89.2 -12.2 101 647 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3020 3020 698 0 0 0 0 0 0 27.06 27.08 27.08 10.62 39.80

678 -1.57 -380.6 1974 2278 3021 676 93.6 -11.9 107 684 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3020 3020 696 0 0 0 0 0 0 27.07 27.09 27.09 10.61 39.32

716 -1.57 -380.6 1974 2278 3021 674 97.9 -11.7 113 722 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2278 3021 3021 698 0 0 0 0 0 0 27.08 27.10 27.10 10.62 39.72

734 end dive: TARGET_DEPTH_EXCEEDED

state 734 begin apogee

737 -0.39 0.0 1974 2278 3022 684 100.4 -12.4 116 769 4.10 0.00 23.62 5.115 10246 0.236 0.000 2356 2278 2549 2549 3662 0 0 0 0 0 0 26.77 25.82 24.68 10.62 38.97

770 end apogee: CONTROL_FINISHED_OK

state 770 begin climb

771 1.57 380.6 2355 2278 2549 882 102.4 0.0 121 809 6.53 0.00 22.98 5.048 10246 0.151 0.000 2970 2278 2100 2100 3347 0 0 0 0 0 0 26.06 24.96 24.14 10.51 39.13

839 1.57 380.6 2969 2278 2099 707 97.3 11.1 132 845 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2278 2099 2099 696 0 0 0 0 0 0 26.01 26.03 26.03 10.42 38.89

876 1.57 380.6 2969 2278 2098 679 92.9 12.1 138 882 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2098 2098 669 0 0 0 0 0 0 26.19 26.20 26.20 10.41 39.32

913 1.57 380.6 2969 2278 2098 660 88.4 12.2 144 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2097 2097 654 0 0 0 0 0 0 26.32 26.33 26.33 10.41 38.46

949 1.57 380.6 2969 2278 2097 649 84.2 11.3 150 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2278 2097 2097 643 0 0 0 0 0 0 26.41 26.42 26.42 10.41 39.09

986 1.57 380.6 2969 2278 2096 637 79.6 12.2 156 992 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2096 2096 635 0 0 0 0 0 0 26.48 26.50 26.50 10.40 39.28

1024 1.57 380.6 2969 2278 2095 631 75.0 12.4 162 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2095 2095 627 0 0 0 0 0 0 26.55 26.57 26.56 10.41 38.81

1063 1.57 380.6 2969 2278 2094 624 70.5 11.4 168 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2093 2093 622 0 0 0 0 0 0 26.61 26.63 26.62 10.40 39.13

1099 1.57 380.6 2969 2278 2092 619 66.6 10.3 174 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2093 2093 617 0 0 0 0 0 0 26.66 26.67 26.67 10.40 38.81

1136 1.57 380.6 2969 2278 2092 614 62.7 10.9 180 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2091 2091 613 0 0 0 0 0 0 26.70 26.72 26.71 10.40 39.13

1173 1.57 380.6 2969 2278 2091 610 58.5 11.3 186 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2278 2091 2091 610 0 0 0 0 0 0 26.74 26.75 26.75 10.40 39.01

1210 1.57 380.6 2970 2278 2090 607 54.3 11.6 192 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2090 2090 607 0 0 0 0 0 0 26.77 26.79 26.79 10.40 39.25

1246 1.57 380.6 2969 2278 2089 604 50.1 11.5 198 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2089 2089 605 0 0 0 0 0 0 26.80 26.82 26.82 10.40 39.13

1283 1.57 380.6 2969 2278 2088 602 45.6 12.0 204 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2089 2089 602 0 0 0 0 0 0 26.83 26.85 26.84 10.40 39.28

1320 1.57 380.6 2969 2278 2087 599 41.1 12.5 210 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2087 2087 601 0 0 0 0 0 0 26.86 26.87 26.88 10.40 39.60

1357 1.57 380.6 2969 2278 2086 598 36.7 12.4 216 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2085 2085 599 0 0 0 0 0 0 26.89 26.90 26.89 10.39 39.60

1395 1.57 380.6 2968 2278 2084 597 32.2 12.0 222 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2085 2085 598 0 0 0 0 0 0 26.91 26.92 26.92 10.39 39.64

1433 1.57 380.6 2969 2278 2084 595 27.8 11.4 228 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2083 2083 596 0 0 0 0 0 0 26.92 26.95 26.94 10.40 38.85

1470 1.57 380.6 2969 2278 2083 593 23.4 12.0 234 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2082 2082 595 0 0 0 0 0 0 26.95 26.96 26.96 10.40 39.05

1508 1.57 380.6 2969 2278 2081 593 19.1 11.8 240 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2081 2081 595 0 0 0 0 0 0 26.96 26.98 26.97 10.40 39.21

1544 1.57 380.6 2969 2278 2081 592 14.7 11.3 246 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2080 2080 594 0 0 0 0 0 0 26.98 27.00 26.99 10.40 39.44

1581 1.57 380.6 2970 2277 2078 591 10.6 10.8 252 1587 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2079 2079 593 0 0 0 0 0 0 27.00 27.01 27.01 10.39 39.25

1618 1.57 380.6 2969 2278 2079 590 6.5 11.6 258 1625 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2278 2079 2079 593 0 0 0 0 0 0 27.01 27.03 27.03 10.39 39.64

1655 1.58 382.1 2969 2278 2077 590 2.7 10.1 264 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2077 2077 592 0 0 0 0 0 0 27.03 27.05 27.04 10.39 39.84

1667 end climb: SURFACE_DEPTH_REACHED

state 1667 begin surface coast

1686 end surface coast: CONTROL_FINISHED_OK

state 1686 begin surface

ID	402	HD_B	0.013	ROLL_DEG	55	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	2.4999999e-05	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	32	HEADING	-1	C_ROLL_CLIMB	2278	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	25	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	20	ALTIM_PING_DELTA	0
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	12	ALTIM_PULSE	3
D_ABORT	210	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	4
D_NO_BLEED	210	SM_CC	350	ROLL_MAXERRORS	1	XPDR_VALID	0
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	50	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4045	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85000002	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	360	DEVICE4	-1
T_DIVE	33	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_MISSION	43	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	6	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	0	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	100940	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	97
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	48
USE_ICE	-1	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	350	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3600	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2490	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
MAX_BUOY	400	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
SPEED_FACTOR	1	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.771183	SEABIRD_C_H	1.1416712
MASS	72342	PITCH_AD_RATE	50	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	280	COMPASS_USE	4
HD_A	0.0049999999	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0

GPS1	030517,140952,4742.9009,-12224.5342,4,0.8,7,16.3,0.0,0.0,10,9.4	TGT_NAME	SW
_CALLS	2	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.254634,-0.246456
_SM_DEPTHo	1.17	KALMAN_X	-2960.167236,140.682236,165.447403,3028.460938,198.438660
_SM_ANGLEo	-48.9	KALMAN_Y	-417.069550,-1152.332642,463.308380,1205.017334,-39.642944
GPS2	030517,141821,4742.8945,-12224.4570,5,0.8,8,16.3,0.0,0.0,10,10.0	MHEAD_RNG_PITCHd_Wd	195.4,847,-12.7,-10.101,-16.08,5655
SPEED_LIMITS	0.101,0.354	D_GRID	177

FINISH	0.2,1.020823	_10V_AH	10.45,2.370
SM_CCo	1778,0.00,0.000,0,0,2077,402.90	FG_AHR_24Vo	0.000
SM_GC	1.32,26.40,0.00,0.00,0.094,0.000,0.000,369,2277,2077,-6.61,0.00,402.90,0,0,0,0,0,0,26.78,27.05,26.82	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,030517,141503	MEM	323536
TT8_MAMPS	0.023219,0.167776	DATA_FILE_SIZE	10522,269
HUMID	39.36	CAP_FILE_SIZE	55888,0
INTERNAL_PRESSURE	10.3422	CFSIZE	1024409600,1018773504
TCM_TEMP	9.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	22	CURRENT	0.091,219.03,1
ALTIM_TOP_PING	19.7,19.6	GPS	030517,145023,4742.519,-12224.727,4,1.0,44,16.3,0.0,0.0,7,3.0
_24V_AH	24.14,4.640

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	57	469	649.98	SBE_CT	178	24	103.22
Roll_motor	6	206	31.34	nil	0	0	0.00
VBD_pump_during_apogee	46	5114	5753.96	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	66	103	165.09	nil	0	0	0.00
Iridium_during_connect	65	160	252.72	nil	0	0	0.00
Iridium_during_xfer	222	223	1195.73	nil	0	0	0.00
Transponder_ping	6	420	60.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	50	5.10
TT8	709	19	146.91
LPSleep	515	2	11.79
TT8_Active	263	19	54.61
TT8_Sampling	794	39	330.63
TT8_CF8	32	45	15.70
TT8_Kalman	33	81	28.59
Analog_circuits	556	12	69.79
GPS_charging	0	0	0.00
Compass	397	5	20.77
RAFOS	0	0	0.00
Transponder	8	30	2.51

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.57	-380.6	368	2282	2064	383	0.0	0.0	0	25	0.00	0.00	-8.12	0.000	16390	0.000	0.000	369	2283	3003	3003	467	0	0	0	0	0	0	26.74	25.49	26.75	10.40	40.07
27	-1.57	-380.6	368	2283	3003	467	1.2	0.0	1	52	20.35	0.00	0.00	0.000	2566	0.469	0.000	1975	2283	3005	3005	668	0	0	0	0	0	0	26.31	26.48	26.45	10.63	39.88
83	-1.57	-380.6	1974	2283	3006	660	14.0	-15.2	10	89	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3006	3006	682	0	0	0	0	0	0	26.74	26.75	26.75	10.62	39.60
119	-1.57	-380.6	1974	2283	3006	666	18.9	-12.8	16	125	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3007	3007	686	0	0	0	0	0	0	26.77	26.79	26.79	10.62	39.28
156	-1.57	-380.6	1974	2283	3008	675	23.7	-13.0	22	162	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3008	3008	695	0	0	0	0	0	0	26.81	26.82	26.82	10.62	39.60
192	-1.57	-380.6	1974	2283	3009	673	28.7	-13.4	28	198	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3009	3009	693	0	0	0	0	0	0	26.84	26.85	26.85	10.62	39.88
229	-1.57	-380.6	1974	2283	3009	680	33.7	-14.3	34	235	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3010	3010	699	0	0	0	0	0	0	26.86	26.88	26.88	10.61	38.77
267	-1.57	-380.6	1974	2283	3010	675	38.8	-13.5	40	273	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3011	3011	695	0	0	0	0	0	0	26.89	26.91	26.91	10.61	39.17
304	-1.57	-380.6	1975	2282	3011	680	43.9	-13.2	46	310	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3011	3011	700	0	0	0	0	0	0	26.91	26.94	26.93	10.61	38.93
340	-1.57	-380.6	1974	2283	3013	675	48.8	-13.4	52	346	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3013	3013	695	0	0	0	0	0	0	26.94	26.95	26.95	10.61	38.81
377	-1.57	-380.6	1974	2283	3013	682	53.8	-13.4	58	383	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2283	3013	3013	701	0	0	0	0	0	0	26.96	26.97	26.96	10.61	39.44
413	-1.57	-380.6	1974	2283	3013	676	58.7	-13.1	64	420	0.00	3.22	0.00	0.000	516	0.000	0.206	1975	1081	3014	3014	700	0	0	0	0	0	0	26.98	26.61	26.98	10.62	39.76
493	-1.57	-380.6	1974	1081	3016	672	70.5	-15.2	77	501	0.00	3.08	0.00	0.000	1030	0.000	0.137	1975	2278	3017	3017	699	0	0	0	0	0	0	26.79	26.67	26.82	10.61	39.05
531	-1.57	-380.6	1974	2278	3018	676	75.8	-13.9	83	537	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3017	3017	695	0	0	0	0	0	0	27.02	27.03	27.03	10.62	38.85
567	-1.57	-380.6	1974	2278	3018	679	80.4	-12.6	89	574	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3018	3018	702	0	0	0	0	0	0	27.03	27.05	27.05	10.62	39.76
604	-1.57	-380.6	1974	2278	3019	677	84.9	-11.8	95	610	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3019	3019	697	0	0	0	0	0	0	27.05	27.06	27.06	10.62	39.64
641	-1.57	-380.6	1974	2278	3020	675	89.2	-12.2	101	647	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3020	3020	698	0	0	0	0	0	0	27.06	27.08	27.08	10.62	39.80
678	-1.57	-380.6	1974	2278	3021	676	93.6	-11.9	107	684	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3020	3020	696	0	0	0	0	0	0	27.07	27.09	27.09	10.61	39.32
716	-1.57	-380.6	1974	2278	3021	674	97.9	-11.7	113	722	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2278	3021	3021	698	0	0	0	0	0	0	27.08	27.10	27.10	10.62	39.72
734	end dive: TARGET_DEPTH_EXCEEDED
state	734	begin apogee
737	-0.39	0.0	1974	2278	3022	684	100.4	-12.4	116	769	4.10	0.00	23.62	5.115	10246	0.236	0.000	2356	2278	2549	2549	3662	0	0	0	0	0	0	26.77	25.82	24.68	10.62	38.97
770	end apogee: CONTROL_FINISHED_OK
state	770	begin climb
771	1.57	380.6	2355	2278	2549	882	102.4	0.0	121	809	6.53	0.00	22.98	5.048	10246	0.151	0.000	2970	2278	2100	2100	3347	0	0	0	0	0	0	26.06	24.96	24.14	10.51	39.13
839	1.57	380.6	2969	2278	2099	707	97.3	11.1	132	845	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2278	2099	2099	696	0	0	0	0	0	0	26.01	26.03	26.03	10.42	38.89
876	1.57	380.6	2969	2278	2098	679	92.9	12.1	138	882	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2098	2098	669	0	0	0	0	0	0	26.19	26.20	26.20	10.41	39.32
913	1.57	380.6	2969	2278	2098	660	88.4	12.2	144	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2097	2097	654	0	0	0	0	0	0	26.32	26.33	26.33	10.41	38.46
949	1.57	380.6	2969	2278	2097	649	84.2	11.3	150	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2278	2097	2097	643	0	0	0	0	0	0	26.41	26.42	26.42	10.41	39.09
986	1.57	380.6	2969	2278	2096	637	79.6	12.2	156	992	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2096	2096	635	0	0	0	0	0	0	26.48	26.50	26.50	10.40	39.28
1024	1.57	380.6	2969	2278	2095	631	75.0	12.4	162	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2095	2095	627	0	0	0	0	0	0	26.55	26.57	26.56	10.41	38.81
1063	1.57	380.6	2969	2278	2094	624	70.5	11.4	168	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2093	2093	622	0	0	0	0	0	0	26.61	26.63	26.62	10.40	39.13
1099	1.57	380.6	2969	2278	2092	619	66.6	10.3	174	1106	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2093	2093	617	0	0	0	0	0	0	26.66	26.67	26.67	10.40	38.81
1136	1.57	380.6	2969	2278	2092	614	62.7	10.9	180	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2091	2091	613	0	0	0	0	0	0	26.70	26.72	26.71	10.40	39.13
1173	1.57	380.6	2969	2278	2091	610	58.5	11.3	186	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2278	2091	2091	610	0	0	0	0	0	0	26.74	26.75	26.75	10.40	39.01
1210	1.57	380.6	2970	2278	2090	607	54.3	11.6	192	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2090	2090	607	0	0	0	0	0	0	26.77	26.79	26.79	10.40	39.25
1246	1.57	380.6	2969	2278	2089	604	50.1	11.5	198	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2089	2089	605	0	0	0	0	0	0	26.80	26.82	26.82	10.40	39.13
1283	1.57	380.6	2969	2278	2088	602	45.6	12.0	204	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2089	2089	602	0	0	0	0	0	0	26.83	26.85	26.84	10.40	39.28
1320	1.57	380.6	2969	2278	2087	599	41.1	12.5	210	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2087	2087	601	0	0	0	0	0	0	26.86	26.87	26.88	10.40	39.60
1357	1.57	380.6	2969	2278	2086	598	36.7	12.4	216	1363	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2085	2085	599	0	0	0	0	0	0	26.89	26.90	26.89	10.39	39.60
1395	1.57	380.6	2968	2278	2084	597	32.2	12.0	222	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2085	2085	598	0	0	0	0	0	0	26.91	26.92	26.92	10.39	39.64
1433	1.57	380.6	2969	2278	2084	595	27.8	11.4	228	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2083	2083	596	0	0	0	0	0	0	26.92	26.95	26.94	10.40	38.85
1470	1.57	380.6	2969	2278	2083	593	23.4	12.0	234	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2082	2082	595	0	0	0	0	0	0	26.95	26.96	26.96	10.40	39.05
1508	1.57	380.6	2969	2278	2081	593	19.1	11.8	240	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2081	2081	595	0	0	0	0	0	0	26.96	26.98	26.97	10.40	39.21
1544	1.57	380.6	2969	2278	2081	592	14.7	11.3	246	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2080	2080	594	0	0	0	0	0	0	26.98	27.00	26.99	10.40	39.44
1581	1.57	380.6	2970	2277	2078	591	10.6	10.8	252	1587	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2079	2079	593	0	0	0	0	0	0	27.00	27.01	27.01	10.39	39.25
1618	1.57	380.6	2969	2278	2079	590	6.5	11.6	258	1625	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2278	2079	2079	593	0	0	0	0	0	0	27.01	27.03	27.03	10.39	39.64
1655	1.58	382.1	2969	2278	2077	590	2.7	10.1	264	1661	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2077	2077	592	0	0	0	0	0	0	27.03	27.05	27.04	10.39	39.84
1667	end climb: SURFACE_DEPTH_REACHED
state	1667	begin surface coast
1686	end surface coast: CONTROL_FINISHED_OK
state	1686	begin surface