Glider dive log

Shilshole 11Apr18 * SG401 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 2.4999999e-05 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0

MISSION 23 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING 0 HEAD_ERRBAND 30 ALTIM_PING_DEPTH 90

N_DIVES 10 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 2

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 5650 R_PORT_OVSHOOT 28 ALTIM_PULSE 7

D_FLARE 3 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 26 ALTIM_SENSITIVITY 1

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 1920 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 3122 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 150 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 25 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 11 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 0.0049999999 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 20

HD_B 0.013 ROLL_DEG 54 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 11 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3693 STOP_T 0

ALTIM_FREQUENCY 13 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 7 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 GLIDE_SLOPE 25 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 20 HD_A 0.0049999999 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.013 PRESSURE_YINT -51.021927 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 2.4999999e-05 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 3122 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 54 UNCOM_BLEED 60

C_VBD 1920 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 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 28 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 7 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 250

D_ABORT 200 N_DIVES 10 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 3 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 120418,011201,4744.8057,-12224.1094,5,1.0,14,16.3,0.4,342.0,9,5.0 TGT_NAME SW

_CALLS 4 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.49 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120418,012016,4744.8999,-12224.1592,6,1.0,15,16.3,0.0,340.1,9,4.8 MHEAD_RNG_PITCHd_Wd 173.9,4516,-20.9,-10.000,-23.50,2227

SPEED_LIMITS 0.214,0.230 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.1,0.999823 SC_FREEKB 3909440

SM_CCo 2597,0.00,0.000,0,0,1514,374.90 _24V_AH 24.03,0.527

SM_GC 2.39,34.65,0.10,0.00,0.026,0.137,0.000,239,2604,1514,-8.99,-0.59,374.90,0,0,0,0,0,0,26.73,26.66,26.77 _10V_AH 10.47,1.969

IRIDIUM_FIX 4808.40,-12337.82,120418,010741 FG_AHR_24Vo 0.000

TT8_MAMPS 0.045689,0.392476 FG_AHR_10Vo 0.000

HUMID 46.49 MEM 312872

INTERNAL_PRESSURE 8.38279 DATA_FILE_SIZE 10511,295

TCM_TEMP 8.10 CAP_FILE_SIZE 81087,0

XPDR_PINGS 0 CFSIZE 1023623168,1020919808

ALTIM_TOP_PING 19.7,9.4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

ALTIM_BOTTOM_PING 90.5,9.6 GPS 120418,020504,4744.788,-12224.188,5,1.2,51,16.3,0.4,26.0,8,7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 75 136 249.34 nil 0 0 0.00

Roll_motor 66 136 218.90 nil 0 0 0.00

VBD_pump_during_apogee 48 2177 2517.37 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2491 67 4027.24

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 7.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.88

TT8 0 0 0.00

LPSleep 1746 2 40.05

TT8_Active 241 19 50.01

TT8_Sampling 651 39 271.39

TT8_CF8 16 45 8.05

TT8_Kalman 0 0 0.00

Analog_circuits 502 12 63.09

GPS_charging 0 0 0.00

Compass 428 5 22.42

RAFOS 0 0 0.00

Transponder 7 30 2.26

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 -2.12 -146.3 239 2612 1376 3402 0.0 0.0 0 12 0.00 0.00 -4.20 0.000 16390 0.000 0.000 238 2613 2085 2085 4095 0 0 0 0 0 0 26.72 25.38 26.72 8.48 47.44

14 -2.12 -146.3 238 2617 2086 4095 0.0 0.0 0 46 27.27 0.00 0.00 0.000 2310 0.137 0.000 2433 2613 2088 2088 4091 1 0 0 0 0 0 26.24 26.44 26.39 8.62 47.95

105 -2.12 -146.3 2433 2613 2092 4091 31.4 -29.1 10 112 0.00 3.10 0.00 0.000 516 0.000 0.050 2433 1430 2093 2093 4094 0 0 0 0 0 0 26.70 26.34 26.72 8.62 46.85

177 -2.12 -146.3 2433 1433 2096 4094 50.2 -24.6 22 185 0.00 2.97 0.00 0.000 1030 0.000 0.058 2433 2553 2096 2096 4095 0 0 0 0 0 0 26.46 26.39 26.48 8.62 46.96

243 -2.12 -146.3 2432 2554 2102 4095 68.2 -28.0 29 243 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2554 2100 2100 4094 0 0 0 0 0 0 26.80 26.80 26.79 8.62 47.28

303 -2.12 -146.3 2433 2554 2104 4094 85.3 -28.9 35 310 0.00 2.92 0.00 0.000 516 0.000 0.050 2433 1431 2116 2116 4094 0 0 0 0 0 0 26.81 26.45 26.82 8.61 46.88

423 -2.12 -146.3 2433 1435 2113 4094 118.6 -27.5 55 430 0.00 2.92 0.00 0.000 1030 0.000 0.059 2433 2538 2112 2112 4094 0 0 0 0 0 0 26.56 26.49 26.60 8.62 47.00

489 -2.12 -146.3 2433 2539 2118 4094 137.2 -28.3 62 490 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2540 2116 2116 4094 0 0 0 0 0 0 26.87 26.89 26.89 8.62 47.04

549 -2.12 -146.3 2432 2539 2121 4094 153.2 -25.9 68 549 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2540 2120 2120 4094 0 0 0 0 0 0 26.89 26.91 26.91 8.63 47.24

609 -2.12 -146.3 2432 2540 2125 4094 169.1 -26.8 74 616 0.00 2.88 0.00 0.000 516 0.000 0.047 2433 1434 2134 2134 4094 0 0 0 0 0 0 26.91 26.55 26.92 8.62 47.04

638 end dive: TARGET_DEPTH_EXCEEDED

state 638 begin apogee

643 -0.45 0.0 2438 2602 2124 4091 177.7 -28.5 79 662 6.12 0.00 11.38 2.178 10244 0.106 0.000 2966 2603 1921 1921 4094 0 0 0 0 0 0 26.51 25.89 24.34 8.62 47.67

663 end apogee: CONTROL_FINISHED_OK

state 663 begin climb

664 2.12 146.3 2965 2603 1923 4094 182.4 0.0 81 689 7.72 3.33 9.30 2.067 10500 0.067 0.097 3674 3788 1771 1771 4094 0 0 0 0 0 0 26.08 25.96 24.03 8.59 47.32

794 2.20 202.0 3673 3789 1762 4094 172.9 7.4 103 808 0.00 3.00 4.78 1.463 11270 0.000 0.034 3678 2592 1701 1701 4094 0 0 0 0 0 0 26.13 26.11 24.26 8.56 47.08

867 2.23 218.4 3673 2593 1702 4094 167.1 9.2 111 870 0.00 0.00 2.42 0.444 10246 0.000 0.000 3674 2592 1690 1690 4094 0 0 0 0 0 0 26.34 25.86 24.37 8.55 46.49

926 2.23 218.4 3672 2592 1690 4094 160.6 11.0 117 928 0.00 0.00 0.52 0.002 10246 0.000 0.000 3674 2592 1698 1698 4094 0 0 0 0 0 0 26.44 26.43 26.43 8.54 46.81

986 2.23 218.4 3673 2592 1688 4094 154.3 10.5 123 990 0.00 0.00 2.20 0.223 10246 0.000 0.000 3673 2592 1682 1682 4093 0 0 0 0 0 0 26.52 26.04 24.62 8.54 46.81

1046 2.23 218.4 3675 2591 1681 4093 148.2 10.1 129 1047 0.00 0.00 0.00 0.000 2054 0.000 0.000 3673 2589 1681 1681 4094 0 0 0 0 0 0 26.57 26.58 26.58 8.54 47.12

1106 2.23 218.4 3671 2592 1681 4094 142.1 10.3 135 1107 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2592 1679 1679 4094 0 0 0 0 0 0 26.63 26.64 26.64 8.54 47.16

1166 2.23 218.4 3673 2592 1679 4094 135.9 10.3 141 1174 0.00 3.05 0.00 0.000 2564 0.000 0.056 3673 1438 1671 1671 4095 0 0 0 0 0 0 26.68 26.32 26.69 8.54 47.71

1232 2.27 244.2 3674 1438 1676 4095 129.8 8.8 152 1241 0.00 3.03 2.78 0.591 11270 0.000 0.054 3674 2590 1658 1658 4094 0 0 0 0 0 0 26.45 26.38 24.87 8.54 47.08

1298 2.29 259.4 3674 2590 1656 4094 123.8 9.3 159 1302 0.00 0.00 2.67 0.535 10246 0.000 0.000 3673 2590 1640 1640 4094 0 0 0 0 0 0 26.72 26.25 24.91 8.53 47.04

1358 2.29 261.9 3674 2590 1638 4094 117.9 9.9 165 1360 0.00 0.00 0.25 0.002 10246 0.000 0.000 3674 2590 1639 1639 4094 0 0 0 0 0 0 26.73 26.73 26.73 8.53 46.92

1418 2.29 261.9 3674 2588 1637 4094 111.6 10.7 171 1419 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2590 1637 1637 4094 0 0 0 0 0 0 26.77 26.77 26.77 8.53 47.20

1478 2.29 261.9 3673 2590 1636 4094 105.0 11.1 177 1486 0.00 3.03 0.00 0.000 2564 0.000 0.054 3673 1436 1634 1634 4094 0 0 0 0 0 0 26.79 26.44 26.80 8.52 47.24

1508 2.30 266.0 3673 1437 1636 4094 101.9 9.8 182 1517 0.00 3.05 0.25 0.003 11270 0.000 0.053 3671 2602 1634 1634 4094 0 0 0 0 0 0 26.53 26.47 26.56 8.52 47.12

1574 2.31 269.1 3679 2603 1633 4094 95.4 9.9 189 1578 0.00 0.00 2.22 0.200 10246 0.000 0.000 3673 2599 1626 1626 4092 0 0 0 0 0 0 26.84 26.37 25.18 8.53 46.92

1634 2.32 277.4 3673 2603 1627 4092 89.6 9.6 195 1643 0.00 3.03 2.33 0.260 10756 0.000 0.053 3673 1432 1617 1617 4091 0 0 0 0 0 0 26.84 26.44 25.20 8.52 47.87

1694 2.35 297.4 3673 1433 1618 4091 84.1 9.1 205 1703 0.00 3.03 2.65 0.428 11270 0.000 0.053 3675 2590 1599 1599 4094 0 0 0 0 0 0 26.57 26.51 25.26 8.52 47.04

1760 2.35 297.4 3672 2590 1599 4094 77.4 10.6 212 1761 0.00 0.00 0.00 0.000 2054 0.000 0.000 3673 2590 1597 1597 4094 0 0 0 0 0 0 26.85 26.86 26.86 8.52 47.16

1820 2.35 297.4 3671 2590 1596 4094 70.8 10.9 218 1821 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2590 1596 1596 4094 0 0 0 0 0 0 26.87 26.88 26.88 8.51 47.08

1880 2.35 297.4 3673 2590 1596 4094 64.3 10.7 224 1888 0.00 3.00 0.00 0.000 2564 0.000 0.051 3681 1440 1594 1594 4095 0 0 0 0 0 0 26.89 26.54 26.90 8.51 47.28

1910 2.35 297.4 3673 1441 1596 4095 61.2 10.1 229 1918 0.00 2.97 0.00 0.000 3078 0.000 0.053 3673 2582 1593 1593 4094 0 0 0 0 0 0 26.62 26.55 26.65 8.51 47.04

1976 2.35 297.4 3673 2582 1594 4094 53.7 11.8 236 1977 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2582 1592 1592 4094 0 0 0 0 0 0 26.91 26.93 26.91 8.51 47.16

2036 2.35 297.4 3673 2582 1592 4094 46.4 11.9 242 2044 0.00 3.28 0.00 0.000 2308 0.000 0.088 3673 3778 1590 1590 4094 0 0 0 0 0 0 26.94 26.52 26.94 8.51 46.96

2066 2.35 297.4 3674 3779 1588 4094 42.0 15.2 247 2075 0.00 2.90 0.00 0.000 3078 0.000 0.034 3674 2582 1599 1599 4094 0 0 0 0 0 0 26.74 26.71 26.75 8.49 47.00

2132 2.35 297.4 3673 2584 1589 4094 34.5 10.5 254 2140 0.00 2.95 0.00 0.000 2564 0.000 0.050 3674 1443 1587 1587 4088 0 0 0 0 0 0 26.95 26.60 26.96 8.51 47.36

2144 2.35 298.4 3680 1443 1588 4088 33.3 10.0 256 2152 0.00 2.97 0.00 0.000 3078 0.000 0.055 3673 2581 1583 1583 4094 0 0 0 0 0 0 26.66 26.60 26.67 8.51 46.73

2210 2.35 298.4 3673 2582 1586 4094 26.3 10.8 263 2211 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2581 1585 1585 4094 0 0 0 0 0 0 26.96 26.97 26.97 8.51 47.00

2271 2.35 298.4 3673 2581 1584 4094 19.7 10.6 269 2272 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2581 1583 1583 4094 0 0 0 0 0 0 26.91 26.92 26.91 8.51 47.24

2330 2.36 308.2 3675 2581 1581 4094 14.0 9.6 275 2331 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2581 1581 1581 4094 0 0 0 0 0 0 26.98 26.99 26.99 8.51 47.12

2390 2.46 371.8 3673 2581 1581 4094 9.9 7.1 281 2399 0.00 2.97 4.32 0.510 10756 0.000 0.050 3673 1439 1518 1518 4094 0 0 0 0 0 0 27.00 26.63 25.87 8.51 47.04

2433 2.46 372.0 3673 1441 1518 4094 6.0 10.0 288 2441 0.00 2.92 0.03 0.000 11270 0.000 0.051 3674 2568 1515 1515 4094 0 0 0 0 0 0 26.69 26.66 26.71 8.49 47.48

2478 end climb: SURFACE_DEPTH_REACHED

state 2478 begin surface coast

2498 end surface coast: CONTROL_FINISHED_OK

state 2498 begin surface

ID	401	HD_C	2.4999999e-05	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0
MISSION	23	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING	0	HEAD_ERRBAND	30	ALTIM_PING_DEPTH	90
N_DIVES	10	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	2
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	5650	R_PORT_OVSHOOT	28	ALTIM_PULSE	7
D_FLARE	3	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	1
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	1920	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	3122	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	150	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	25	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	11	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	0.0049999999	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	20
HD_B	0.013	ROLL_DEG	54	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	120418,011201,4744.8057,-12224.1094,5,1.0,14,16.3,0.4,342.0,9,5.0	TGT_NAME	SW
_CALLS	4	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.49	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120418,012016,4744.8999,-12224.1592,6,1.0,15,16.3,0.0,340.1,9,4.8	MHEAD_RNG_PITCHd_Wd	173.9,4516,-20.9,-10.000,-23.50,2227
SPEED_LIMITS	0.214,0.230	D_GRID	177

FINISH	0.1,0.999823	SC_FREEKB	3909440
SM_CCo	2597,0.00,0.000,0,0,1514,374.90	_24V_AH	24.03,0.527
SM_GC	2.39,34.65,0.10,0.00,0.026,0.137,0.000,239,2604,1514,-8.99,-0.59,374.90,0,0,0,0,0,0,26.73,26.66,26.77	_10V_AH	10.47,1.969
IRIDIUM_FIX	4808.40,-12337.82,120418,010741	FG_AHR_24Vo	0.000
TT8_MAMPS	0.045689,0.392476	FG_AHR_10Vo	0.000
HUMID	46.49	MEM	312872
INTERNAL_PRESSURE	8.38279	DATA_FILE_SIZE	10511,295
TCM_TEMP	8.10	CAP_FILE_SIZE	81087,0
XPDR_PINGS	0	CFSIZE	1023623168,1020919808
ALTIM_TOP_PING	19.7,9.4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
ALTIM_BOTTOM_PING	90.5,9.6	GPS	120418,020504,4744.788,-12224.188,5,1.2,51,16.3,0.4,26.0,8,7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	75	136	249.34	nil	0	0	0.00
Roll_motor	66	136	218.90	nil	0	0	0.00
VBD_pump_during_apogee	48	2177	2517.37	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2491	67	4027.24
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	7.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.88
TT8	0	0	0.00
LPSleep	1746	2	40.05
TT8_Active	241	19	50.01
TT8_Sampling	651	39	271.39
TT8_CF8	16	45	8.05
TT8_Kalman	0	0	0.00
Analog_circuits	502	12	63.09
GPS_charging	0	0	0.00
Compass	428	5	22.42
RAFOS	0	0	0.00
Transponder	7	30	2.26

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	-2.12	-146.3	239	2612	1376	3402	0.0	0.0	0	12	0.00	0.00	-4.20	0.000	16390	0.000	0.000	238	2613	2085	2085	4095	0	0	0	0	0	0	26.72	25.38	26.72	8.48	47.44
14	-2.12	-146.3	238	2617	2086	4095	0.0	0.0	0	46	27.27	0.00	0.00	0.000	2310	0.137	0.000	2433	2613	2088	2088	4091	1	0	0	0	0	0	26.24	26.44	26.39	8.62	47.95
105	-2.12	-146.3	2433	2613	2092	4091	31.4	-29.1	10	112	0.00	3.10	0.00	0.000	516	0.000	0.050	2433	1430	2093	2093	4094	0	0	0	0	0	0	26.70	26.34	26.72	8.62	46.85
177	-2.12	-146.3	2433	1433	2096	4094	50.2	-24.6	22	185	0.00	2.97	0.00	0.000	1030	0.000	0.058	2433	2553	2096	2096	4095	0	0	0	0	0	0	26.46	26.39	26.48	8.62	46.96
243	-2.12	-146.3	2432	2554	2102	4095	68.2	-28.0	29	243	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2554	2100	2100	4094	0	0	0	0	0	0	26.80	26.80	26.79	8.62	47.28
303	-2.12	-146.3	2433	2554	2104	4094	85.3	-28.9	35	310	0.00	2.92	0.00	0.000	516	0.000	0.050	2433	1431	2116	2116	4094	0	0	0	0	0	0	26.81	26.45	26.82	8.61	46.88
423	-2.12	-146.3	2433	1435	2113	4094	118.6	-27.5	55	430	0.00	2.92	0.00	0.000	1030	0.000	0.059	2433	2538	2112	2112	4094	0	0	0	0	0	0	26.56	26.49	26.60	8.62	47.00
489	-2.12	-146.3	2433	2539	2118	4094	137.2	-28.3	62	490	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2540	2116	2116	4094	0	0	0	0	0	0	26.87	26.89	26.89	8.62	47.04
549	-2.12	-146.3	2432	2539	2121	4094	153.2	-25.9	68	549	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2540	2120	2120	4094	0	0	0	0	0	0	26.89	26.91	26.91	8.63	47.24
609	-2.12	-146.3	2432	2540	2125	4094	169.1	-26.8	74	616	0.00	2.88	0.00	0.000	516	0.000	0.047	2433	1434	2134	2134	4094	0	0	0	0	0	0	26.91	26.55	26.92	8.62	47.04
638	end dive: TARGET_DEPTH_EXCEEDED
state	638	begin apogee
643	-0.45	0.0	2438	2602	2124	4091	177.7	-28.5	79	662	6.12	0.00	11.38	2.178	10244	0.106	0.000	2966	2603	1921	1921	4094	0	0	0	0	0	0	26.51	25.89	24.34	8.62	47.67
663	end apogee: CONTROL_FINISHED_OK
state	663	begin climb
664	2.12	146.3	2965	2603	1923	4094	182.4	0.0	81	689	7.72	3.33	9.30	2.067	10500	0.067	0.097	3674	3788	1771	1771	4094	0	0	0	0	0	0	26.08	25.96	24.03	8.59	47.32
794	2.20	202.0	3673	3789	1762	4094	172.9	7.4	103	808	0.00	3.00	4.78	1.463	11270	0.000	0.034	3678	2592	1701	1701	4094	0	0	0	0	0	0	26.13	26.11	24.26	8.56	47.08
867	2.23	218.4	3673	2593	1702	4094	167.1	9.2	111	870	0.00	0.00	2.42	0.444	10246	0.000	0.000	3674	2592	1690	1690	4094	0	0	0	0	0	0	26.34	25.86	24.37	8.55	46.49
926	2.23	218.4	3672	2592	1690	4094	160.6	11.0	117	928	0.00	0.00	0.52	0.002	10246	0.000	0.000	3674	2592	1698	1698	4094	0	0	0	0	0	0	26.44	26.43	26.43	8.54	46.81
986	2.23	218.4	3673	2592	1688	4094	154.3	10.5	123	990	0.00	0.00	2.20	0.223	10246	0.000	0.000	3673	2592	1682	1682	4093	0	0	0	0	0	0	26.52	26.04	24.62	8.54	46.81
1046	2.23	218.4	3675	2591	1681	4093	148.2	10.1	129	1047	0.00	0.00	0.00	0.000	2054	0.000	0.000	3673	2589	1681	1681	4094	0	0	0	0	0	0	26.57	26.58	26.58	8.54	47.12
1106	2.23	218.4	3671	2592	1681	4094	142.1	10.3	135	1107	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2592	1679	1679	4094	0	0	0	0	0	0	26.63	26.64	26.64	8.54	47.16
1166	2.23	218.4	3673	2592	1679	4094	135.9	10.3	141	1174	0.00	3.05	0.00	0.000	2564	0.000	0.056	3673	1438	1671	1671	4095	0	0	0	0	0	0	26.68	26.32	26.69	8.54	47.71
1232	2.27	244.2	3674	1438	1676	4095	129.8	8.8	152	1241	0.00	3.03	2.78	0.591	11270	0.000	0.054	3674	2590	1658	1658	4094	0	0	0	0	0	0	26.45	26.38	24.87	8.54	47.08
1298	2.29	259.4	3674	2590	1656	4094	123.8	9.3	159	1302	0.00	0.00	2.67	0.535	10246	0.000	0.000	3673	2590	1640	1640	4094	0	0	0	0	0	0	26.72	26.25	24.91	8.53	47.04
1358	2.29	261.9	3674	2590	1638	4094	117.9	9.9	165	1360	0.00	0.00	0.25	0.002	10246	0.000	0.000	3674	2590	1639	1639	4094	0	0	0	0	0	0	26.73	26.73	26.73	8.53	46.92
1418	2.29	261.9	3674	2588	1637	4094	111.6	10.7	171	1419	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2590	1637	1637	4094	0	0	0	0	0	0	26.77	26.77	26.77	8.53	47.20
1478	2.29	261.9	3673	2590	1636	4094	105.0	11.1	177	1486	0.00	3.03	0.00	0.000	2564	0.000	0.054	3673	1436	1634	1634	4094	0	0	0	0	0	0	26.79	26.44	26.80	8.52	47.24
1508	2.30	266.0	3673	1437	1636	4094	101.9	9.8	182	1517	0.00	3.05	0.25	0.003	11270	0.000	0.053	3671	2602	1634	1634	4094	0	0	0	0	0	0	26.53	26.47	26.56	8.52	47.12
1574	2.31	269.1	3679	2603	1633	4094	95.4	9.9	189	1578	0.00	0.00	2.22	0.200	10246	0.000	0.000	3673	2599	1626	1626	4092	0	0	0	0	0	0	26.84	26.37	25.18	8.53	46.92
1634	2.32	277.4	3673	2603	1627	4092	89.6	9.6	195	1643	0.00	3.03	2.33	0.260	10756	0.000	0.053	3673	1432	1617	1617	4091	0	0	0	0	0	0	26.84	26.44	25.20	8.52	47.87
1694	2.35	297.4	3673	1433	1618	4091	84.1	9.1	205	1703	0.00	3.03	2.65	0.428	11270	0.000	0.053	3675	2590	1599	1599	4094	0	0	0	0	0	0	26.57	26.51	25.26	8.52	47.04
1760	2.35	297.4	3672	2590	1599	4094	77.4	10.6	212	1761	0.00	0.00	0.00	0.000	2054	0.000	0.000	3673	2590	1597	1597	4094	0	0	0	0	0	0	26.85	26.86	26.86	8.52	47.16
1820	2.35	297.4	3671	2590	1596	4094	70.8	10.9	218	1821	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2590	1596	1596	4094	0	0	0	0	0	0	26.87	26.88	26.88	8.51	47.08
1880	2.35	297.4	3673	2590	1596	4094	64.3	10.7	224	1888	0.00	3.00	0.00	0.000	2564	0.000	0.051	3681	1440	1594	1594	4095	0	0	0	0	0	0	26.89	26.54	26.90	8.51	47.28
1910	2.35	297.4	3673	1441	1596	4095	61.2	10.1	229	1918	0.00	2.97	0.00	0.000	3078	0.000	0.053	3673	2582	1593	1593	4094	0	0	0	0	0	0	26.62	26.55	26.65	8.51	47.04
1976	2.35	297.4	3673	2582	1594	4094	53.7	11.8	236	1977	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2582	1592	1592	4094	0	0	0	0	0	0	26.91	26.93	26.91	8.51	47.16
2036	2.35	297.4	3673	2582	1592	4094	46.4	11.9	242	2044	0.00	3.28	0.00	0.000	2308	0.000	0.088	3673	3778	1590	1590	4094	0	0	0	0	0	0	26.94	26.52	26.94	8.51	46.96
2066	2.35	297.4	3674	3779	1588	4094	42.0	15.2	247	2075	0.00	2.90	0.00	0.000	3078	0.000	0.034	3674	2582	1599	1599	4094	0	0	0	0	0	0	26.74	26.71	26.75	8.49	47.00
2132	2.35	297.4	3673	2584	1589	4094	34.5	10.5	254	2140	0.00	2.95	0.00	0.000	2564	0.000	0.050	3674	1443	1587	1587	4088	0	0	0	0	0	0	26.95	26.60	26.96	8.51	47.36
2144	2.35	298.4	3680	1443	1588	4088	33.3	10.0	256	2152	0.00	2.97	0.00	0.000	3078	0.000	0.055	3673	2581	1583	1583	4094	0	0	0	0	0	0	26.66	26.60	26.67	8.51	46.73
2210	2.35	298.4	3673	2582	1586	4094	26.3	10.8	263	2211	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2581	1585	1585	4094	0	0	0	0	0	0	26.96	26.97	26.97	8.51	47.00
2271	2.35	298.4	3673	2581	1584	4094	19.7	10.6	269	2272	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2581	1583	1583	4094	0	0	0	0	0	0	26.91	26.92	26.91	8.51	47.24
2330	2.36	308.2	3675	2581	1581	4094	14.0	9.6	275	2331	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2581	1581	1581	4094	0	0	0	0	0	0	26.98	26.99	26.99	8.51	47.12
2390	2.46	371.8	3673	2581	1581	4094	9.9	7.1	281	2399	0.00	2.97	4.32	0.510	10756	0.000	0.050	3673	1439	1518	1518	4094	0	0	0	0	0	0	27.00	26.63	25.87	8.51	47.04
2433	2.46	372.0	3673	1441	1518	4094	6.0	10.0	288	2441	0.00	2.92	0.03	0.000	11270	0.000	0.051	3674	2568	1515	1515	4094	0	0	0	0	0	0	26.69	26.66	26.71	8.49	47.48
2478	end climb: SURFACE_DEPTH_REACHED
state	2478	begin surface coast
2498	end surface coast: CONTROL_FINISHED_OK
state	2498	begin surface