Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 1775 ALTIM_TOP_TURN_MARGIN 0

MISSION 28 HEADING -1 C_ROLL_CLIMB 1775 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 21 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_PING_DEPTH 120

N_DIVES 25 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 11 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 68 ALTIM_SENSITIVITY 3

D_TGT 150 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 234 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3420 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2515 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 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 50 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 60 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 3775 MINV_10V 8 SEABIRD_T_G 0.0044153114

RELAUNCH 0 C_PITCH 2600 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 400 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 35 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 15 PRESSURE_YINT -50.894402 SEABIRD_C_I -0.0032838252

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 73949 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 1 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 1 ROLL_MIN 250 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0040000002 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 15

HD_B 0.012 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 150 PITCH_CNV 0.00312576 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3775 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 120 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 3 GLIDE_SLOPE 35 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 15 HD_A 0.0040000002 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PRESSURE_YINT -50.894402 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 5.7000002e-06 PROTOCOL 9 TGT_DEFAULT_LON -16401

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 20 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 50

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 60

COMPASS2_DEVICE -1 KALMAN_USE 1 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.023 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 2600 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1775 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 1775 MASS 73949 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 2515 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 250 USE_ICE 0

DEVICE1 -1 MAX_BUOY 400 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 11 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 68 VBD_DBAND 2

DEVICE4 -1 MISSION 28 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3420

DEVICE6 -1 NAV_MODE 1 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 21 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 25 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 720

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00030784801 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2991.02 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_G 0.0044153114 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064861565 XPDR_VALID 4

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6621732e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.3947326e-06

Pre-dive calculations and measurements:

GPS1 230518,123255,4741.2637,-12226.1592,4,1.0,35,16.3,0.4,223.6,9,4.8 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.078247,0.363528

_SM_DEPTHo 1.33 KALMAN_X -5888.998047,-917.739014,-47.408730,5292.024414,163.694733

_SM_ANGLEo -55.3 KALMAN_Y -11850.709961,-2104.447510,188.622620,10847.172852,-4.067932

GPS2 230518,124745,4741.1387,-12226.3594,7,0.8,13,16.3,0.0,13.0,9,4.7 MHEAD_RNG_PITCHd_Wd 355.8,5644,-11.2,-10.000,-15.05,5957

SPEED_LIMITS 0.143,0.372 D_GRID 153

Post-dive calculations and measurements:

SM_CCo 2986,0.00,0.000,0,0,1755,701.78 _24V_AH 23.39,6.001

SM_GC 1.34,29.95,0.00,0.00,0.023,0.000,0.000,232,1791,1755,-7.40,0.73,701.78,0,0,0,0,0,0,26.21,26.71,26.42 _10V_AH 10.23,6.769

IRIDIUM_FIX 4808.40,-12337.82,230518,113924 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.828394 FG_AHR_10Vo 0.000

HUMID 50.07 MEM 312924

INTERNAL_PRESSURE 10.2676 DATA_FILE_SIZE 7024,265

TCM_TEMP 10.40 CAP_FILE_SIZE 125248,0

XPDR_PINGS 1 CFSIZE 1023623168,1018642432

ALTIM_TOP_PING 13.8,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.4,46.2 GPS 230518,133930,4741.778,-12225.893,4,0.9,13,16.3,0.0,0.0,9,4.6

SC_FREEKB 3898080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 63 138 205.01 nil 0 0 0.00

Roll_motor 30 92 65.60 nil 0 0 0.00

VBD_pump_during_apogee 67 2128 3360.07 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 51 103 123.70 nil 0 0 0.00

Iridium_during_connect 37 160 141.56 SciCon 2918 70 4794.43

Iridium_during_xfer 622 223 3245.49 nil 0 0 0.00

Transponder_ping 160 420 1576.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.47

TT8 313 19 63.57

LPSleep 1248 2 27.97

TT8_Active 151 19 30.75

TT8_Sampling 2106 39 857.73

TT8_CF8 77 45 36.32

TT8_Kalman 33 81 28.00

Analog_circuits 581 12 71.33

GPS_charging 0 0 0.00

Compass 391 5 20.03

RAFOS 0 0 0.00

Transponder 1584 30 486.41

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -1.33 -391.0 242 1776 1699 2045 0.0 0.0 0 21 0.00 0.00 -9.55 0.000 16390 0.000 0.000 243 1774 2936 2936 2051 0 0 0 0 0 0 26.35 25.25 26.32 10.37 50.07

23 -1.33 -391.0 243 1777 2944 2051 1.8 0.0 1 50 23.35 0.00 0.00 0.000 2054 0.119 0.000 2162 1780 2946 2946 2046 0 0 0 0 0 0 26.00 26.15 26.12 10.58 49.64

112 -1.33 -391.0 2168 1777 2948 2046 21.8 -11.7 10 113 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 1781 2948 2948 2047 0 0 0 0 0 0 26.43 26.44 26.44 10.62 49.40

171 -1.33 -391.0 2162 1777 2950 2047 28.9 -11.4 16 173 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 1780 2949 2949 2046 0 0 0 0 0 0 26.50 26.51 26.51 10.61 48.93

231 -1.33 -391.0 2165 1777 2947 2046 36.6 -13.0 22 233 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 1777 2951 2951 2046 0 0 0 0 0 0 26.55 26.57 26.57 10.61 48.97

291 -1.33 -391.0 2162 1777 2953 2046 44.9 -14.0 28 293 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 1777 2953 2953 2046 0 0 0 0 0 0 26.60 26.62 26.62 10.59 49.72

352 -1.33 -391.0 2162 1777 2955 2046 53.2 -13.5 34 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 1776 2952 2952 2046 0 0 0 0 0 0 26.65 26.66 26.66 10.59 49.05

411 -1.33 -391.0 2161 1777 2957 2046 60.9 -13.0 40 417 0.00 2.70 0.00 0.000 516 0.000 0.083 2161 795 2957 2957 2054 0 0 0 0 0 0 26.68 26.34 26.70 10.59 49.44

454 -1.33 -391.0 2162 796 2958 2054 67.0 -14.3 47 459 0.00 2.30 0.00 0.000 1030 0.000 0.033 2162 1750 2957 2957 2046 0 0 0 0 0 0 26.51 26.48 26.56 10.59 49.25

520 -1.33 -391.0 2162 1756 2959 2046 74.9 -11.2 54 521 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 1756 2959 2959 2046 0 0 0 0 0 0 26.73 26.74 26.74 10.59 49.40

595 -1.33 -391.0 2161 1756 2961 2046 82.1 -11.5 60 610 0.00 2.62 0.00 0.000 516 0.000 0.085 2163 791 2961 2961 2045 0 0 0 0 0 0 26.72 26.37 26.71 10.56 49.64

654 -1.33 -391.0 2162 793 2962 2045 91.0 -15.0 64 670 0.00 2.30 0.00 0.000 1030 0.000 0.034 2162 1773 2963 2963 2046 0 0 0 0 0 0 26.55 26.54 26.57 10.58 50.03

757 -1.33 -391.0 2165 1773 2965 2046 103.3 -11.1 71 772 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 1773 2965 2965 2046 0 0 0 0 0 0 26.71 26.74 26.73 10.58 49.68

857 -1.33 -391.0 2162 1772 2966 2046 114.6 -11.4 78 872 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 1773 2968 2968 2050 0 0 0 0 0 0 26.70 26.71 26.73 10.60 49.44

972 -1.33 -391.0 2162 1775 2969 2050 124.8 -8.2 85 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 1774 2969 2969 2046 0 0 0 0 0 0 26.64 26.69 26.68 10.58 50.00

1073 -1.33 -391.0 2166 1775 2968 2046 131.7 -6.7 92 1087 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 1775 2971 2971 2046 0 0 0 0 0 0 26.65 26.65 26.67 10.61 49.44

1173 -1.33 -391.0 2162 1775 2972 2046 142.1 -10.5 99 1189 0.00 2.67 0.00 0.000 516 0.000 0.085 2163 793 2973 2973 2046 0 0 0 0 0 0 26.63 26.31 26.65 10.56 50.27

1232 -1.33 -391.0 2162 795 2974 2046 149.3 -11.9 103 1248 0.00 2.30 0.00 0.000 1030 0.000 0.032 2163 1756 2974 2974 2046 0 0 0 0 0 0 26.48 26.45 26.48 10.55 49.29

1263 end dive: TARGET_DEPTH_EXCEEDED

state 1263 begin apogee

1267 -0.33 0.0 2162 1756 2974 2046 153.3 -12.7 105 1295 3.35 0.00 22.50 2.129 10244 0.062 0.000 2478 1754 2529 2529 2057 0 0 0 0 0 0 26.37 25.27 23.96 10.58 50.31

1297 end apogee: CONTROL_FINISHED_OK

state 1297 begin climb

1298 1.33 391.0 2481 1756 2519 2057 157.8 0.0 109 1329 5.68 0.00 21.88 2.101 11270 0.044 0.000 3010 1757 2091 2091 2042 0 0 0 0 0 0 25.52 25.67 23.39 10.47 48.77

1389 1.33 391.0 3003 1760 2094 2042 151.1 10.2 121 1391 0.00 0.00 0.05 0.007 8198 0.000 0.000 3009 1754 2090 2090 2046 0 0 0 0 0 0 25.73 25.75 25.75 10.41 49.40

1449 1.43 454.5 3012 1756 2089 2046 145.9 8.9 127 1459 0.25 0.00 4.97 1.329 10246 0.041 0.000 3048 1762 2022 2022 2046 0 0 0 0 0 0 25.84 25.48 24.23 10.38 48.89

1519 1.52 513.9 3045 1756 2021 2046 139.6 9.0 134 1529 0.15 0.00 4.88 1.274 10246 0.060 0.000 3071 1756 1957 1957 2045 0 0 0 0 0 0 25.89 25.57 24.32 10.38 49.25

1589 1.55 535.6 3070 1753 1956 2045 132.7 9.6 141 1597 0.00 2.72 2.83 0.623 8708 0.000 0.087 3071 784 1935 1935 2046 0 0 0 0 0 0 26.15 25.77 24.48 10.35 49.64

1662 1.55 535.6 3071 787 1940 2046 125.6 10.4 153 1668 0.00 2.45 0.00 0.000 1030 0.000 0.034 3071 1786 1935 1935 2042 0 0 0 0 0 0 26.11 26.11 26.11 10.34 49.80

1729 1.55 535.6 3070 1799 1934 2042 117.9 11.9 160 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1934 1934 2054 0 0 0 0 0 0 26.37 26.39 26.38 10.34 50.00

1788 1.55 535.6 3070 1799 1932 2054 111.5 10.4 166 1790 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1932 1932 2046 0 0 0 0 0 0 26.44 26.46 26.46 10.33 50.31

1850 1.55 535.6 3074 1799 1931 2046 105.3 10.8 172 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1794 1930 1930 2054 0 0 0 0 0 0 26.48 26.57 26.52 10.33 50.59

1909 1.55 535.6 3070 1799 1929 2054 98.6 11.3 178 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1929 1929 2046 0 0 0 0 0 0 26.56 26.58 26.57 10.34 50.90

1968 1.55 535.6 3070 1799 1928 2046 92.1 10.6 184 1970 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1928 1928 2046 0 0 0 0 0 0 26.61 26.62 26.62 10.33 50.82

2030 1.55 535.6 3070 1799 1927 2046 85.9 10.4 190 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1919 1919 2046 0 0 0 0 0 0 26.65 26.66 26.63 10.33 51.61

2088 1.55 535.6 3070 1799 1925 2046 79.8 10.1 196 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1799 1924 1924 2045 0 0 0 0 0 0 26.68 26.70 26.69 10.33 51.26

2148 1.55 535.6 3071 1796 1924 2045 73.7 10.1 202 2154 0.00 2.80 0.00 0.000 516 0.000 0.086 3070 787 1932 1932 2046 0 0 0 0 0 0 26.71 26.35 26.72 10.33 51.37

2196 1.55 535.6 3071 787 1922 2046 68.6 10.5 210 2203 0.03 2.38 0.00 0.000 3078 0.138 0.034 3082 1778 1922 1922 2046 0 0 0 0 0 0 26.42 26.53 26.46 10.33 51.33

2263 1.55 535.8 3082 1788 1926 2046 62.0 10.0 217 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 1789 1921 1921 2046 0 0 0 0 0 0 26.76 26.77 26.77 10.33 51.65

2346 1.58 556.2 3083 1796 1919 2046 55.2 9.6 223 2361 0.00 0.00 0.50 0.005 8198 0.000 0.000 3083 1788 1919 1919 2047 0 0 0 0 0 0 26.70 26.74 26.73 10.32 51.81

2448 1.69 630.9 3082 1789 1916 2047 46.1 8.7 230 2464 0.38 0.00 5.20 0.763 10758 0.035 0.000 3133 1789 1836 1836 2046 0 0 0 0 0 0 26.57 26.10 25.52 10.33 51.33

2550 1.69 630.9 3133 1789 1833 2046 34.4 12.3 237 2566 0.00 2.75 0.05 0.005 8708 0.000 0.093 3133 795 1833 1833 2046 0 0 0 0 0 0 26.64 26.29 26.66 10.30 50.78

2624 1.69 630.9 3132 794 1831 2046 25.2 12.5 242 2640 0.00 2.30 0.00 0.000 1030 0.000 0.035 3134 1791 1831 1831 2046 0 0 0 0 0 0 26.47 26.48 26.51 10.31 50.82

2727 1.69 630.9 3133 1791 1828 2046 13.8 11.2 249 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 1791 1828 1828 2046 0 0 0 0 0 0 26.64 26.64 26.63 10.31 50.90

2801 1.79 698.4 3133 1792 1825 2046 5.6 8.8 256 2810 0.17 0.00 4.62 0.474 10246 0.054 0.000 3165 1793 1751 1751 2044 0 0 0 0 0 0 26.49 26.32 25.73 10.32 50.86

2859 end climb: SURFACE_DEPTH_REACHED

state 2859 begin surface coast

2889 end surface coast: CONTROL_FINISHED_OK

state 2890 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	1775	ALTIM_TOP_TURN_MARGIN	0
MISSION	28	HEADING	-1	C_ROLL_CLIMB	1775	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	21	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_PING_DEPTH	120
N_DIVES	25	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	11	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	68	ALTIM_SENSITIVITY	3
D_TGT	150	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	234	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3420	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2515	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	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	50	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	60	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	3775	MINV_10V	8	SEABIRD_T_G	0.0044153114
RELAUNCH	0	C_PITCH	2600	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	400	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	35	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	15	PRESSURE_YINT	-50.894402	SEABIRD_C_I	-0.0032838252
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	73949	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	1	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	1	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	230518,123255,4741.2637,-12226.1592,4,1.0,35,16.3,0.4,223.6,9,4.8	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.078247,0.363528
_SM_DEPTHo	1.33	KALMAN_X	-5888.998047,-917.739014,-47.408730,5292.024414,163.694733
_SM_ANGLEo	-55.3	KALMAN_Y	-11850.709961,-2104.447510,188.622620,10847.172852,-4.067932
GPS2	230518,124745,4741.1387,-12226.3594,7,0.8,13,16.3,0.0,13.0,9,4.7	MHEAD_RNG_PITCHd_Wd	355.8,5644,-11.2,-10.000,-15.05,5957
SPEED_LIMITS	0.143,0.372	D_GRID	153

SM_CCo	2986,0.00,0.000,0,0,1755,701.78	_24V_AH	23.39,6.001
SM_GC	1.34,29.95,0.00,0.00,0.023,0.000,0.000,232,1791,1755,-7.40,0.73,701.78,0,0,0,0,0,0,26.21,26.71,26.42	_10V_AH	10.23,6.769
IRIDIUM_FIX	4808.40,-12337.82,230518,113924	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.828394	FG_AHR_10Vo	0.000
HUMID	50.07	MEM	312924
INTERNAL_PRESSURE	10.2676	DATA_FILE_SIZE	7024,265
TCM_TEMP	10.40	CAP_FILE_SIZE	125248,0
XPDR_PINGS	1	CFSIZE	1023623168,1018642432
ALTIM_TOP_PING	13.8,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.4,46.2	GPS	230518,133930,4741.778,-12225.893,4,0.9,13,16.3,0.0,0.0,9,4.6
SC_FREEKB	3898080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	63	138	205.01	nil	0	0	0.00
Roll_motor	30	92	65.60	nil	0	0	0.00
VBD_pump_during_apogee	67	2128	3360.07	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	51	103	123.70	nil	0	0	0.00
Iridium_during_connect	37	160	141.56	SciCon	2918	70	4794.43
Iridium_during_xfer	622	223	3245.49	nil	0	0	0.00
Transponder_ping	160	420	1576.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.47
TT8	313	19	63.57
LPSleep	1248	2	27.97
TT8_Active	151	19	30.75
TT8_Sampling	2106	39	857.73
TT8_CF8	77	45	36.32
TT8_Kalman	33	81	28.00
Analog_circuits	581	12	71.33
GPS_charging	0	0	0.00
Compass	391	5	20.03
RAFOS	0	0	0.00
Transponder	1584	30	486.41

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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-1.33	-391.0	242	1776	1699	2045	0.0	0.0	0	21	0.00	0.00	-9.55	0.000	16390	0.000	0.000	243	1774	2936	2936	2051	0	0	0	0	0	0	26.35	25.25	26.32	10.37	50.07
23	-1.33	-391.0	243	1777	2944	2051	1.8	0.0	1	50	23.35	0.00	0.00	0.000	2054	0.119	0.000	2162	1780	2946	2946	2046	0	0	0	0	0	0	26.00	26.15	26.12	10.58	49.64
112	-1.33	-391.0	2168	1777	2948	2046	21.8	-11.7	10	113	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	1781	2948	2948	2047	0	0	0	0	0	0	26.43	26.44	26.44	10.62	49.40
171	-1.33	-391.0	2162	1777	2950	2047	28.9	-11.4	16	173	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	1780	2949	2949	2046	0	0	0	0	0	0	26.50	26.51	26.51	10.61	48.93
231	-1.33	-391.0	2165	1777	2947	2046	36.6	-13.0	22	233	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	1777	2951	2951	2046	0	0	0	0	0	0	26.55	26.57	26.57	10.61	48.97
291	-1.33	-391.0	2162	1777	2953	2046	44.9	-14.0	28	293	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	1777	2953	2953	2046	0	0	0	0	0	0	26.60	26.62	26.62	10.59	49.72
352	-1.33	-391.0	2162	1777	2955	2046	53.2	-13.5	34	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	1776	2952	2952	2046	0	0	0	0	0	0	26.65	26.66	26.66	10.59	49.05
411	-1.33	-391.0	2161	1777	2957	2046	60.9	-13.0	40	417	0.00	2.70	0.00	0.000	516	0.000	0.083	2161	795	2957	2957	2054	0	0	0	0	0	0	26.68	26.34	26.70	10.59	49.44
454	-1.33	-391.0	2162	796	2958	2054	67.0	-14.3	47	459	0.00	2.30	0.00	0.000	1030	0.000	0.033	2162	1750	2957	2957	2046	0	0	0	0	0	0	26.51	26.48	26.56	10.59	49.25
520	-1.33	-391.0	2162	1756	2959	2046	74.9	-11.2	54	521	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	1756	2959	2959	2046	0	0	0	0	0	0	26.73	26.74	26.74	10.59	49.40
595	-1.33	-391.0	2161	1756	2961	2046	82.1	-11.5	60	610	0.00	2.62	0.00	0.000	516	0.000	0.085	2163	791	2961	2961	2045	0	0	0	0	0	0	26.72	26.37	26.71	10.56	49.64
654	-1.33	-391.0	2162	793	2962	2045	91.0	-15.0	64	670	0.00	2.30	0.00	0.000	1030	0.000	0.034	2162	1773	2963	2963	2046	0	0	0	0	0	0	26.55	26.54	26.57	10.58	50.03
757	-1.33	-391.0	2165	1773	2965	2046	103.3	-11.1	71	772	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	1773	2965	2965	2046	0	0	0	0	0	0	26.71	26.74	26.73	10.58	49.68
857	-1.33	-391.0	2162	1772	2966	2046	114.6	-11.4	78	872	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	1773	2968	2968	2050	0	0	0	0	0	0	26.70	26.71	26.73	10.60	49.44
972	-1.33	-391.0	2162	1775	2969	2050	124.8	-8.2	85	986	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	1774	2969	2969	2046	0	0	0	0	0	0	26.64	26.69	26.68	10.58	50.00
1073	-1.33	-391.0	2166	1775	2968	2046	131.7	-6.7	92	1087	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	1775	2971	2971	2046	0	0	0	0	0	0	26.65	26.65	26.67	10.61	49.44
1173	-1.33	-391.0	2162	1775	2972	2046	142.1	-10.5	99	1189	0.00	2.67	0.00	0.000	516	0.000	0.085	2163	793	2973	2973	2046	0	0	0	0	0	0	26.63	26.31	26.65	10.56	50.27
1232	-1.33	-391.0	2162	795	2974	2046	149.3	-11.9	103	1248	0.00	2.30	0.00	0.000	1030	0.000	0.032	2163	1756	2974	2974	2046	0	0	0	0	0	0	26.48	26.45	26.48	10.55	49.29
1263	end dive: TARGET_DEPTH_EXCEEDED
state	1263	begin apogee
1267	-0.33	0.0	2162	1756	2974	2046	153.3	-12.7	105	1295	3.35	0.00	22.50	2.129	10244	0.062	0.000	2478	1754	2529	2529	2057	0	0	0	0	0	0	26.37	25.27	23.96	10.58	50.31
1297	end apogee: CONTROL_FINISHED_OK
state	1297	begin climb
1298	1.33	391.0	2481	1756	2519	2057	157.8	0.0	109	1329	5.68	0.00	21.88	2.101	11270	0.044	0.000	3010	1757	2091	2091	2042	0	0	0	0	0	0	25.52	25.67	23.39	10.47	48.77
1389	1.33	391.0	3003	1760	2094	2042	151.1	10.2	121	1391	0.00	0.00	0.05	0.007	8198	0.000	0.000	3009	1754	2090	2090	2046	0	0	0	0	0	0	25.73	25.75	25.75	10.41	49.40
1449	1.43	454.5	3012	1756	2089	2046	145.9	8.9	127	1459	0.25	0.00	4.97	1.329	10246	0.041	0.000	3048	1762	2022	2022	2046	0	0	0	0	0	0	25.84	25.48	24.23	10.38	48.89
1519	1.52	513.9	3045	1756	2021	2046	139.6	9.0	134	1529	0.15	0.00	4.88	1.274	10246	0.060	0.000	3071	1756	1957	1957	2045	0	0	0	0	0	0	25.89	25.57	24.32	10.38	49.25
1589	1.55	535.6	3070	1753	1956	2045	132.7	9.6	141	1597	0.00	2.72	2.83	0.623	8708	0.000	0.087	3071	784	1935	1935	2046	0	0	0	0	0	0	26.15	25.77	24.48	10.35	49.64
1662	1.55	535.6	3071	787	1940	2046	125.6	10.4	153	1668	0.00	2.45	0.00	0.000	1030	0.000	0.034	3071	1786	1935	1935	2042	0	0	0	0	0	0	26.11	26.11	26.11	10.34	49.80
1729	1.55	535.6	3070	1799	1934	2042	117.9	11.9	160	1730	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1934	1934	2054	0	0	0	0	0	0	26.37	26.39	26.38	10.34	50.00
1788	1.55	535.6	3070	1799	1932	2054	111.5	10.4	166	1790	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1932	1932	2046	0	0	0	0	0	0	26.44	26.46	26.46	10.33	50.31
1850	1.55	535.6	3074	1799	1931	2046	105.3	10.8	172	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1794	1930	1930	2054	0	0	0	0	0	0	26.48	26.57	26.52	10.33	50.59
1909	1.55	535.6	3070	1799	1929	2054	98.6	11.3	178	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1929	1929	2046	0	0	0	0	0	0	26.56	26.58	26.57	10.34	50.90
1968	1.55	535.6	3070	1799	1928	2046	92.1	10.6	184	1970	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1928	1928	2046	0	0	0	0	0	0	26.61	26.62	26.62	10.33	50.82
2030	1.55	535.6	3070	1799	1927	2046	85.9	10.4	190	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1919	1919	2046	0	0	0	0	0	0	26.65	26.66	26.63	10.33	51.61
2088	1.55	535.6	3070	1799	1925	2046	79.8	10.1	196	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1799	1924	1924	2045	0	0	0	0	0	0	26.68	26.70	26.69	10.33	51.26
2148	1.55	535.6	3071	1796	1924	2045	73.7	10.1	202	2154	0.00	2.80	0.00	0.000	516	0.000	0.086	3070	787	1932	1932	2046	0	0	0	0	0	0	26.71	26.35	26.72	10.33	51.37
2196	1.55	535.6	3071	787	1922	2046	68.6	10.5	210	2203	0.03	2.38	0.00	0.000	3078	0.138	0.034	3082	1778	1922	1922	2046	0	0	0	0	0	0	26.42	26.53	26.46	10.33	51.33
2263	1.55	535.8	3082	1788	1926	2046	62.0	10.0	217	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	1789	1921	1921	2046	0	0	0	0	0	0	26.76	26.77	26.77	10.33	51.65
2346	1.58	556.2	3083	1796	1919	2046	55.2	9.6	223	2361	0.00	0.00	0.50	0.005	8198	0.000	0.000	3083	1788	1919	1919	2047	0	0	0	0	0	0	26.70	26.74	26.73	10.32	51.81
2448	1.69	630.9	3082	1789	1916	2047	46.1	8.7	230	2464	0.38	0.00	5.20	0.763	10758	0.035	0.000	3133	1789	1836	1836	2046	0	0	0	0	0	0	26.57	26.10	25.52	10.33	51.33
2550	1.69	630.9	3133	1789	1833	2046	34.4	12.3	237	2566	0.00	2.75	0.05	0.005	8708	0.000	0.093	3133	795	1833	1833	2046	0	0	0	0	0	0	26.64	26.29	26.66	10.30	50.78
2624	1.69	630.9	3132	794	1831	2046	25.2	12.5	242	2640	0.00	2.30	0.00	0.000	1030	0.000	0.035	3134	1791	1831	1831	2046	0	0	0	0	0	0	26.47	26.48	26.51	10.31	50.82
2727	1.69	630.9	3133	1791	1828	2046	13.8	11.2	249	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	1791	1828	1828	2046	0	0	0	0	0	0	26.64	26.64	26.63	10.31	50.90
2801	1.79	698.4	3133	1792	1825	2046	5.6	8.8	256	2810	0.17	0.00	4.62	0.474	10246	0.054	0.000	3165	1793	1751	1751	2044	0	0	0	0	0	0	26.49	26.32	25.73	10.32	50.86
2859	end climb: SURFACE_DEPTH_REACHED
state	2859	begin surface coast
2889	end surface coast: CONTROL_FINISHED_OK
state	2890	begin surface