Glider dive log

Shilshole 11Apr18 * SG401 * Dive index * Mission links * Dive 9 * 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 9 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 45 ALTIM_PULSE 7

D_FLARE 3 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 14 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 1880 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 3150 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 3150 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 1880 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 45 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 14 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 9 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 120418,031846,4745.0405,-12224.3193,25,1.3,70,16.3,0.3,11.0,7,2.6 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 3 TGT_RADIUS 300.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.07 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -56.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 120418,033437,4745.2290,-12224.3115,6,1.3,52,16.3,0.4,348.4,7,3.0 MHEAD_RNG_PITCHd_Wd 170.6,5091,-20.9,-10.000,-23.50,2227

SPEED_LIMITS 0.214,0.230 D_GRID 191

Post-dive calculations and measurements:

FINISH 0.9,0.999823 SC_FREEKB 3908256

SM_CCo 2468,0.00,0.000,0,0,1494,356.43 _24V_AH 23.92,0.684

SM_GC 2.62,34.83,3.03,0.00,0.028,0.052,0.000,239,2602,1494,-9.08,-0.82,356.43,0,0,0,0,0,0,26.72,26.62,26.74 _10V_AH 10.49,2.114

IRIDIUM_FIX 4808.40,-12337.82,120418,022501 FG_AHR_24Vo 0.000

TT8_MAMPS 0.047936,0.38948 FG_AHR_10Vo 0.000

HUMID 45.98 MEM 312888

INTERNAL_PRESSURE 8.40232 DATA_FILE_SIZE 10501,286

TCM_TEMP 7.80 CAP_FILE_SIZE 67127,0

XPDR_PINGS 25 CFSIZE 1023623168,1020657664

ALTIM_TOP_PING 19.1,9.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 92.0,9.7 GPS 120418,041700,4745.007,-12224.330,5,1.0,34,16.3,0.0,56.2,9,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 76 137 252.14 nil 0 0 0.00

Roll_motor 60 154 223.35 nil 0 0 0.00

VBD_pump_during_apogee 43 2208 2323.14 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 23 103 58.45 nil 0 0 0.00

Iridium_during_connect 20 160 79.67 SciCon 2395 67 3867.02

Iridium_during_xfer 754 223 4023.08 nil 0 0 0.00

Transponder_ping 7 420 70.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 53 50 28.26

TT8 0 0 0.00

LPSleep 1643 2 37.76

TT8_Active 240 19 49.87

TT8_Sampling 1495 39 624.21

TT8_CF8 49 45 23.93

TT8_Kalman 0 0 0.00

Analog_circuits 492 12 62.04

GPS_charging 0 0 0.00

Compass 416 5 21.86

RAFOS 0 0 0.00

Transponder 12 30 3.99

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6 -2.12 -146.3 244 2600 247 3405 0.0 0.0 0 20 0.00 0.00 -10.93 0.000 16390 0.000 0.000 248 2600 2051 2051 4094 0 0 0 0 0 0 26.32 25.14 26.34 8.28 46.29

21 -2.12 -146.3 240 2596 2050 4094 1.3 0.0 1 55 28.15 0.00 0.00 0.000 2310 0.138 0.000 2466 2600 2050 2050 4095 0 0 0 0 0 0 25.90 26.13 26.08 8.56 46.29

114 -2.12 -146.3 2461 2600 2058 4095 33.6 -29.7 11 114 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2600 2058 2058 4094 0 0 0 0 0 0 26.43 26.44 26.44 8.60 45.82

174 -2.12 -146.3 2461 2600 2059 4094 49.9 -27.0 17 181 0.00 3.00 0.00 0.000 516 0.000 0.041 2462 1445 2068 2068 4094 0 0 0 0 0 0 26.51 26.18 26.52 8.60 45.47

264 -2.12 -146.3 2459 1444 2069 4094 72.1 -24.8 32 272 0.00 3.08 0.00 0.000 1030 0.000 0.061 2460 2587 2068 2068 4094 0 0 0 0 0 0 26.33 26.25 26.34 8.60 45.51

330 -2.12 -146.3 2459 2591 2073 4094 89.4 -26.8 39 330 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2591 2071 2071 4094 0 0 0 0 0 0 26.63 26.65 26.67 8.60 45.47

390 -2.12 -146.3 2460 2592 2075 4094 105.3 -26.5 45 398 0.00 2.97 0.00 0.000 516 0.000 0.042 2461 1445 2074 2074 4091 0 0 0 0 0 0 26.67 26.36 26.70 8.60 46.33

516 -2.12 -146.3 2461 1445 2081 4091 137.8 -26.2 66 524 0.00 3.03 0.00 0.000 1030 0.000 0.063 2460 2578 2077 2077 4093 0 0 0 0 0 0 26.45 26.39 26.51 8.61 45.70

582 -2.12 -146.3 2461 2579 2086 4093 155.5 -26.2 73 582 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2578 2086 2086 4094 0 0 0 0 0 0 26.78 26.79 26.79 8.61 45.70

642 -2.12 -146.3 2460 2578 2090 4094 170.6 -24.8 79 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2578 2094 2094 4094 0 0 0 0 0 0 26.80 26.82 26.82 8.61 46.02

681 end dive: TARGET_DEPTH_EXCEEDED

state 681 begin apogee

683 -0.45 0.0 2461 2607 2092 4094 181.1 -26.2 83 704 6.15 0.00 11.65 2.209 10244 0.103 0.000 2993 2606 1882 1882 4094 0 0 0 0 0 0 26.44 25.79 24.28 8.61 45.78

705 end apogee: CONTROL_FINISHED_OK

state 705 begin climb

706 2.12 146.3 2994 2607 1882 4094 185.4 0.0 85 731 7.43 3.33 9.40 2.101 10500 0.065 0.099 3673 3776 1719 1719 4089 0 0 0 0 0 0 25.97 25.86 23.92 8.57 46.53

842 2.12 146.3 3672 3781 1721 4089 171.9 11.1 108 850 0.00 2.92 0.00 0.000 3078 0.000 0.033 3673 2592 1719 1719 4094 0 0 0 0 0 0 26.09 26.08 26.12 8.55 46.45

908 2.18 185.3 3672 2597 1721 4094 166.3 8.2 115 914 0.00 0.00 4.35 1.001 10246 0.000 0.000 3673 2597 1684 1684 4094 0 0 0 0 0 0 26.39 25.85 24.59 8.54 45.70

968 2.21 202.5 3673 2597 1684 4094 160.9 9.2 121 972 0.00 0.00 3.08 0.772 10246 0.000 0.000 3672 2595 1659 1659 4089 0 0 0 0 0 0 26.39 25.91 24.53 8.54 45.94

1028 2.27 243.9 3674 2596 1661 4089 156.1 8.1 127 1033 0.00 0.00 4.00 1.198 10246 0.000 0.000 3673 2597 1616 1616 4093 0 0 0 0 0 0 26.44 25.89 24.51 8.54 45.78

1088 2.30 262.8 3679 2597 1618 4093 150.8 9.1 133 1092 0.00 0.00 2.92 0.749 10246 0.000 0.000 3673 2596 1590 1590 4094 0 0 0 0 0 0 26.42 25.94 24.56 8.55 45.70

1148 2.32 281.2 3674 2597 1592 4094 145.3 9.2 139 1157 0.00 2.97 2.60 0.538 10756 0.000 0.047 3672 1447 1577 1577 4095 0 0 0 0 0 0 26.46 25.70 24.58 8.52 45.98

1220 2.37 311.9 3674 1447 1576 4095 139.3 8.6 151 1229 0.00 3.03 3.30 0.888 11270 0.000 0.054 3673 2586 1544 1544 4095 0 0 0 0 0 0 26.24 26.17 24.68 8.51 46.53

1286 2.39 323.1 3672 2586 1546 4095 133.1 9.5 158 1290 0.00 0.00 2.67 0.557 10246 0.000 0.000 3673 2583 1529 1529 4094 0 0 0 0 0 0 26.51 26.05 24.71 8.51 46.06

1346 2.39 323.1 3674 2586 1527 4094 126.8 10.9 164 1354 0.00 3.33 0.00 0.000 2308 0.000 0.090 3668 3775 1528 1528 4091 0 0 0 0 0 0 26.53 26.17 26.54 8.50 46.02

1382 2.39 323.1 3673 3776 1528 4091 121.4 16.4 170 1390 0.00 2.92 0.00 0.000 3078 0.000 0.033 3672 2584 1525 1525 4094 0 0 0 0 0 0 26.38 26.36 26.38 8.50 45.90

1448 2.39 323.1 3673 2583 1523 4094 112.9 12.2 177 1449 0.00 0.00 0.00 0.000 2054 0.000 0.000 3676 2583 1524 1524 4094 0 0 0 0 0 0 26.62 26.63 26.63 8.50 45.90

1508 2.39 323.1 3674 2583 1522 4094 105.6 12.2 183 1516 0.00 2.95 0.00 0.000 2564 0.000 0.047 3673 1446 1521 1521 4093 0 0 0 0 0 0 26.67 26.32 26.67 8.50 46.73

1544 2.39 323.1 3674 1447 1521 4093 101.1 12.4 189 1552 0.00 3.00 0.00 0.000 3078 0.000 0.054 3673 2584 1522 1522 4091 0 0 0 0 0 0 26.41 26.34 26.45 8.50 46.33

1610 2.39 323.1 3673 2585 1520 4091 92.5 13.1 196 1611 0.00 0.00 0.00 0.000 2054 0.000 0.000 3677 2585 1519 1519 4094 0 0 0 0 0 0 26.72 26.73 26.73 8.50 46.37

1670 2.39 323.1 3672 2585 1518 4094 84.4 13.7 202 1678 0.00 2.97 0.00 0.000 2564 0.000 0.047 3673 1443 1516 1516 4094 0 0 0 0 0 0 26.76 26.41 26.77 8.50 46.25

1712 2.39 323.1 3674 1444 1515 4094 79.3 11.8 209 1720 0.00 2.95 0.00 0.000 3078 0.000 0.053 3674 2569 1516 1516 4094 0 0 0 0 0 0 26.49 26.44 26.53 8.50 45.94

1778 2.39 323.1 3674 2570 1513 4094 71.1 12.7 216 1779 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2570 1513 1513 4094 0 0 0 0 0 0 26.80 26.81 26.81 8.50 45.82

1838 2.39 323.1 3673 2570 1513 4094 62.9 13.7 222 1839 0.00 0.00 0.00 0.000 2054 0.000 0.000 3673 2570 1512 1512 4094 0 0 0 0 0 0 26.82 26.84 26.83 8.49 46.22

1898 2.39 323.1 3674 2570 1509 4094 54.9 13.2 228 1899 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2570 1509 1509 4094 0 0 0 0 0 0 26.84 26.85 26.85 8.49 46.33

1958 2.39 323.1 3674 2568 1506 4094 47.2 12.8 234 1966 0.00 3.35 0.00 0.000 2308 0.000 0.090 3674 3780 1507 1507 4095 0 0 0 0 0 0 26.86 26.48 26.87 8.49 46.53

1994 2.39 323.1 3673 3785 1507 4095 41.1 18.0 240 2002 0.00 2.95 0.00 0.000 3078 0.000 0.034 3672 2566 1505 1505 4093 0 0 0 0 0 0 26.67 26.67 26.70 8.49 47.04

2060 2.39 323.1 3674 2565 1500 4093 32.4 12.3 247 2068 0.00 2.88 0.00 0.000 2564 0.000 0.047 3668 1446 1503 1503 4095 0 0 0 0 0 0 26.89 26.55 26.90 8.49 46.33

2102 2.39 323.1 3674 1447 1502 4095 27.6 10.9 254 2110 0.00 2.88 0.00 0.000 3078 0.000 0.053 3673 2548 1502 1502 4095 0 0 0 0 0 0 26.62 26.55 26.64 8.49 46.22

2168 2.39 323.1 3674 2549 1500 4095 20.3 11.2 261 2169 0.00 0.00 0.00 0.000 2054 0.000 0.000 3673 2549 1500 1500 4094 0 0 0 0 0 0 26.94 26.92 26.92 8.49 46.25

2228 2.41 337.2 3674 2548 1496 4094 14.2 9.3 267 2229 0.00 0.00 0.00 0.000 2054 0.000 0.000 3674 2548 1499 1499 4094 0 0 0 0 0 0 26.93 26.94 26.94 8.49 46.18

2288 2.43 354.6 3672 2548 1498 4094 8.7 9.2 273 2296 0.00 2.83 0.00 0.000 2564 0.000 0.044 3673 1451 1496 1496 4092 0 0 0 0 0 0 26.94 26.60 26.94 8.49 46.77

2353 end climb: SURFACE_DEPTH_REACHED

state 2353 begin surface coast

2366 end surface coast: CONTROL_FINISHED_OK

state 2366 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	9	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	45	ALTIM_PULSE	7
D_FLARE	3	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	14	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	1880	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	3150	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	120418,031846,4745.0405,-12224.3193,25,1.3,70,16.3,0.3,11.0,7,2.6	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	3	TGT_RADIUS	300.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.07	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-56.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	120418,033437,4745.2290,-12224.3115,6,1.3,52,16.3,0.4,348.4,7,3.0	MHEAD_RNG_PITCHd_Wd	170.6,5091,-20.9,-10.000,-23.50,2227
SPEED_LIMITS	0.214,0.230	D_GRID	191

FINISH	0.9,0.999823	SC_FREEKB	3908256
SM_CCo	2468,0.00,0.000,0,0,1494,356.43	_24V_AH	23.92,0.684
SM_GC	2.62,34.83,3.03,0.00,0.028,0.052,0.000,239,2602,1494,-9.08,-0.82,356.43,0,0,0,0,0,0,26.72,26.62,26.74	_10V_AH	10.49,2.114
IRIDIUM_FIX	4808.40,-12337.82,120418,022501	FG_AHR_24Vo	0.000
TT8_MAMPS	0.047936,0.38948	FG_AHR_10Vo	0.000
HUMID	45.98	MEM	312888
INTERNAL_PRESSURE	8.40232	DATA_FILE_SIZE	10501,286
TCM_TEMP	7.80	CAP_FILE_SIZE	67127,0
XPDR_PINGS	25	CFSIZE	1023623168,1020657664
ALTIM_TOP_PING	19.1,9.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	92.0,9.7	GPS	120418,041700,4745.007,-12224.330,5,1.0,34,16.3,0.0,56.2,9,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	76	137	252.14	nil	0	0	0.00
Roll_motor	60	154	223.35	nil	0	0	0.00
VBD_pump_during_apogee	43	2208	2323.14	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	23	103	58.45	nil	0	0	0.00
Iridium_during_connect	20	160	79.67	SciCon	2395	67	3867.02
Iridium_during_xfer	754	223	4023.08	nil	0	0	0.00
Transponder_ping	7	420	70.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	53	50	28.26
TT8	0	0	0.00
LPSleep	1643	2	37.76
TT8_Active	240	19	49.87
TT8_Sampling	1495	39	624.21
TT8_CF8	49	45	23.93
TT8_Kalman	0	0	0.00
Analog_circuits	492	12	62.04
GPS_charging	0	0	0.00
Compass	416	5	21.86
RAFOS	0	0	0.00
Transponder	12	30	3.99

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6	-2.12	-146.3	244	2600	247	3405	0.0	0.0	0	20	0.00	0.00	-10.93	0.000	16390	0.000	0.000	248	2600	2051	2051	4094	0	0	0	0	0	0	26.32	25.14	26.34	8.28	46.29
21	-2.12	-146.3	240	2596	2050	4094	1.3	0.0	1	55	28.15	0.00	0.00	0.000	2310	0.138	0.000	2466	2600	2050	2050	4095	0	0	0	0	0	0	25.90	26.13	26.08	8.56	46.29
114	-2.12	-146.3	2461	2600	2058	4095	33.6	-29.7	11	114	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2600	2058	2058	4094	0	0	0	0	0	0	26.43	26.44	26.44	8.60	45.82
174	-2.12	-146.3	2461	2600	2059	4094	49.9	-27.0	17	181	0.00	3.00	0.00	0.000	516	0.000	0.041	2462	1445	2068	2068	4094	0	0	0	0	0	0	26.51	26.18	26.52	8.60	45.47
264	-2.12	-146.3	2459	1444	2069	4094	72.1	-24.8	32	272	0.00	3.08	0.00	0.000	1030	0.000	0.061	2460	2587	2068	2068	4094	0	0	0	0	0	0	26.33	26.25	26.34	8.60	45.51
330	-2.12	-146.3	2459	2591	2073	4094	89.4	-26.8	39	330	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2591	2071	2071	4094	0	0	0	0	0	0	26.63	26.65	26.67	8.60	45.47
390	-2.12	-146.3	2460	2592	2075	4094	105.3	-26.5	45	398	0.00	2.97	0.00	0.000	516	0.000	0.042	2461	1445	2074	2074	4091	0	0	0	0	0	0	26.67	26.36	26.70	8.60	46.33
516	-2.12	-146.3	2461	1445	2081	4091	137.8	-26.2	66	524	0.00	3.03	0.00	0.000	1030	0.000	0.063	2460	2578	2077	2077	4093	0	0	0	0	0	0	26.45	26.39	26.51	8.61	45.70
582	-2.12	-146.3	2461	2579	2086	4093	155.5	-26.2	73	582	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2578	2086	2086	4094	0	0	0	0	0	0	26.78	26.79	26.79	8.61	45.70
642	-2.12	-146.3	2460	2578	2090	4094	170.6	-24.8	79	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2578	2094	2094	4094	0	0	0	0	0	0	26.80	26.82	26.82	8.61	46.02
681	end dive: TARGET_DEPTH_EXCEEDED
state	681	begin apogee
683	-0.45	0.0	2461	2607	2092	4094	181.1	-26.2	83	704	6.15	0.00	11.65	2.209	10244	0.103	0.000	2993	2606	1882	1882	4094	0	0	0	0	0	0	26.44	25.79	24.28	8.61	45.78
705	end apogee: CONTROL_FINISHED_OK
state	705	begin climb
706	2.12	146.3	2994	2607	1882	4094	185.4	0.0	85	731	7.43	3.33	9.40	2.101	10500	0.065	0.099	3673	3776	1719	1719	4089	0	0	0	0	0	0	25.97	25.86	23.92	8.57	46.53
842	2.12	146.3	3672	3781	1721	4089	171.9	11.1	108	850	0.00	2.92	0.00	0.000	3078	0.000	0.033	3673	2592	1719	1719	4094	0	0	0	0	0	0	26.09	26.08	26.12	8.55	46.45
908	2.18	185.3	3672	2597	1721	4094	166.3	8.2	115	914	0.00	0.00	4.35	1.001	10246	0.000	0.000	3673	2597	1684	1684	4094	0	0	0	0	0	0	26.39	25.85	24.59	8.54	45.70
968	2.21	202.5	3673	2597	1684	4094	160.9	9.2	121	972	0.00	0.00	3.08	0.772	10246	0.000	0.000	3672	2595	1659	1659	4089	0	0	0	0	0	0	26.39	25.91	24.53	8.54	45.94
1028	2.27	243.9	3674	2596	1661	4089	156.1	8.1	127	1033	0.00	0.00	4.00	1.198	10246	0.000	0.000	3673	2597	1616	1616	4093	0	0	0	0	0	0	26.44	25.89	24.51	8.54	45.78
1088	2.30	262.8	3679	2597	1618	4093	150.8	9.1	133	1092	0.00	0.00	2.92	0.749	10246	0.000	0.000	3673	2596	1590	1590	4094	0	0	0	0	0	0	26.42	25.94	24.56	8.55	45.70
1148	2.32	281.2	3674	2597	1592	4094	145.3	9.2	139	1157	0.00	2.97	2.60	0.538	10756	0.000	0.047	3672	1447	1577	1577	4095	0	0	0	0	0	0	26.46	25.70	24.58	8.52	45.98
1220	2.37	311.9	3674	1447	1576	4095	139.3	8.6	151	1229	0.00	3.03	3.30	0.888	11270	0.000	0.054	3673	2586	1544	1544	4095	0	0	0	0	0	0	26.24	26.17	24.68	8.51	46.53
1286	2.39	323.1	3672	2586	1546	4095	133.1	9.5	158	1290	0.00	0.00	2.67	0.557	10246	0.000	0.000	3673	2583	1529	1529	4094	0	0	0	0	0	0	26.51	26.05	24.71	8.51	46.06
1346	2.39	323.1	3674	2586	1527	4094	126.8	10.9	164	1354	0.00	3.33	0.00	0.000	2308	0.000	0.090	3668	3775	1528	1528	4091	0	0	0	0	0	0	26.53	26.17	26.54	8.50	46.02
1382	2.39	323.1	3673	3776	1528	4091	121.4	16.4	170	1390	0.00	2.92	0.00	0.000	3078	0.000	0.033	3672	2584	1525	1525	4094	0	0	0	0	0	0	26.38	26.36	26.38	8.50	45.90
1448	2.39	323.1	3673	2583	1523	4094	112.9	12.2	177	1449	0.00	0.00	0.00	0.000	2054	0.000	0.000	3676	2583	1524	1524	4094	0	0	0	0	0	0	26.62	26.63	26.63	8.50	45.90
1508	2.39	323.1	3674	2583	1522	4094	105.6	12.2	183	1516	0.00	2.95	0.00	0.000	2564	0.000	0.047	3673	1446	1521	1521	4093	0	0	0	0	0	0	26.67	26.32	26.67	8.50	46.73
1544	2.39	323.1	3674	1447	1521	4093	101.1	12.4	189	1552	0.00	3.00	0.00	0.000	3078	0.000	0.054	3673	2584	1522	1522	4091	0	0	0	0	0	0	26.41	26.34	26.45	8.50	46.33
1610	2.39	323.1	3673	2585	1520	4091	92.5	13.1	196	1611	0.00	0.00	0.00	0.000	2054	0.000	0.000	3677	2585	1519	1519	4094	0	0	0	0	0	0	26.72	26.73	26.73	8.50	46.37
1670	2.39	323.1	3672	2585	1518	4094	84.4	13.7	202	1678	0.00	2.97	0.00	0.000	2564	0.000	0.047	3673	1443	1516	1516	4094	0	0	0	0	0	0	26.76	26.41	26.77	8.50	46.25
1712	2.39	323.1	3674	1444	1515	4094	79.3	11.8	209	1720	0.00	2.95	0.00	0.000	3078	0.000	0.053	3674	2569	1516	1516	4094	0	0	0	0	0	0	26.49	26.44	26.53	8.50	45.94
1778	2.39	323.1	3674	2570	1513	4094	71.1	12.7	216	1779	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2570	1513	1513	4094	0	0	0	0	0	0	26.80	26.81	26.81	8.50	45.82
1838	2.39	323.1	3673	2570	1513	4094	62.9	13.7	222	1839	0.00	0.00	0.00	0.000	2054	0.000	0.000	3673	2570	1512	1512	4094	0	0	0	0	0	0	26.82	26.84	26.83	8.49	46.22
1898	2.39	323.1	3674	2570	1509	4094	54.9	13.2	228	1899	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2570	1509	1509	4094	0	0	0	0	0	0	26.84	26.85	26.85	8.49	46.33
1958	2.39	323.1	3674	2568	1506	4094	47.2	12.8	234	1966	0.00	3.35	0.00	0.000	2308	0.000	0.090	3674	3780	1507	1507	4095	0	0	0	0	0	0	26.86	26.48	26.87	8.49	46.53
1994	2.39	323.1	3673	3785	1507	4095	41.1	18.0	240	2002	0.00	2.95	0.00	0.000	3078	0.000	0.034	3672	2566	1505	1505	4093	0	0	0	0	0	0	26.67	26.67	26.70	8.49	47.04
2060	2.39	323.1	3674	2565	1500	4093	32.4	12.3	247	2068	0.00	2.88	0.00	0.000	2564	0.000	0.047	3668	1446	1503	1503	4095	0	0	0	0	0	0	26.89	26.55	26.90	8.49	46.33
2102	2.39	323.1	3674	1447	1502	4095	27.6	10.9	254	2110	0.00	2.88	0.00	0.000	3078	0.000	0.053	3673	2548	1502	1502	4095	0	0	0	0	0	0	26.62	26.55	26.64	8.49	46.22
2168	2.39	323.1	3674	2549	1500	4095	20.3	11.2	261	2169	0.00	0.00	0.00	0.000	2054	0.000	0.000	3673	2549	1500	1500	4094	0	0	0	0	0	0	26.94	26.92	26.92	8.49	46.25
2228	2.41	337.2	3674	2548	1496	4094	14.2	9.3	267	2229	0.00	0.00	0.00	0.000	2054	0.000	0.000	3674	2548	1499	1499	4094	0	0	0	0	0	0	26.93	26.94	26.94	8.49	46.18
2288	2.43	354.6	3672	2548	1498	4094	8.7	9.2	273	2296	0.00	2.83	0.00	0.000	2564	0.000	0.044	3673	1451	1496	1496	4092	0	0	0	0	0	0	26.94	26.60	26.94	8.49	46.77
2353	end climb: SURFACE_DEPTH_REACHED
state	2353	begin surface coast
2366	end surface coast: CONTROL_FINISHED_OK
state	2366	begin surface