Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 23 * 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 23 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 10 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 62 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 2615 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 2615 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 10 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 62 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 23 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 230518,144313,4742.1367,-12225.7031,8,1.0,53,16.3,0.3,200.9,8,3.0 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.057806,0.367334

_SM_DEPTHo 1.43 KALMAN_X -6153.051270,-713.554749,356.110748,5727.560059,112.796753

_SM_ANGLEo -59.4 KALMAN_Y -13372.029297,-1491.451172,496.578796,13002.561523,-181.536987

GPS2 230518,145721,4741.9722,-12225.7354,6,1.1,51,16.3,0.5,174.1,8,3.0 MHEAD_RNG_PITCHd_Wd 352.6,3932,-11.2,-10.000,-15.05,5957

SPEED_LIMITS 0.143,0.372 D_GRID 172

Post-dive calculations and measurements:

SM_CCo 2842,0.00,0.000,0,0,1692,759.96 _24V_AH 23.43,6.180

SM_GC 1.22,30.52,0.08,0.00,0.023,0.130,0.000,232,1768,1692,-7.45,0.55,759.96,0,0,0,0,0,0,26.12,26.36,26.32 _10V_AH 10.21,6.964

IRIDIUM_FIX 4808.40,-12337.82,230518,134258 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,0.752745 FG_AHR_10Vo 0.000

HUMID 49.80 MEM 312912

INTERNAL_PRESSURE 10.2481 DATA_FILE_SIZE 7047,258

TCM_TEMP 10.00 CAP_FILE_SIZE 120623,0

XPDR_PINGS 1 CFSIZE 1023623168,1018347520

ALTIM_TOP_PING 15.0,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 121.1,48.1 GPS 230518,154639,4742.335,-12225.479,8,0.9,10,16.3,0.0,0.0,9,4.6

SC_FREEKB 3896864

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 64 122 184.98 nil 0 0 0.00

Roll_motor 35 130 107.94 nil 0 0 0.00

VBD_pump_during_apogee 68 2102 3397.36 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 26 103 62.76 nil 0 0 0.00

Iridium_during_connect 20 160 75.47 SciCon 2773 70 4553.07

Iridium_during_xfer 630 223 3291.91 nil 0 0 0.00

Transponder_ping 152 420 1500.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 52 50 26.99

TT8 304 19 61.50

LPSleep 1131 2 25.30

TT8_Active 147 19 29.82

TT8_Sampling 2051 39 833.46

TT8_CF8 77 45 36.27

TT8_Kalman 33 81 27.93

Analog_circuits 559 12 68.50

GPS_charging 0 0 0.00

Compass 381 5 19.49

RAFOS 0 0 0.00

Transponder 1505 30 461.24

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 -391.0 231 1775 1830 2045 0.0 0.0 0 21 0.00 0.00 -8.48 0.000 16390 0.000 0.000 239 1776 2945 2945 2046 0 0 0 0 0 0 26.39 25.65 26.39 10.33 49.60

23 -1.33 -391.0 231 1773 2940 2046 1.9 0.0 1 48 23.62 0.00 0.00 0.000 2566 0.122 0.000 2179 1776 2945 2945 2045 0 0 0 0 0 0 26.03 26.15 26.13 10.63 49.96

106 -1.33 -391.0 2173 1776 2945 2045 21.9 -12.9 11 111 0.00 2.72 0.00 0.000 516 0.000 0.080 2174 791 2943 2943 2046 0 0 0 0 0 0 26.46 26.09 26.46 10.60 48.85

177 -1.33 -391.0 2177 791 2946 2046 31.7 -14.2 23 183 0.00 2.38 0.00 0.000 1030 0.000 0.033 2177 1764 2947 2947 2045 0 0 0 0 0 0 26.33 26.31 26.34 10.58 49.21

243 -1.33 -391.0 2177 1771 2948 2045 39.5 -11.6 30 245 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 1771 2948 2948 2046 0 0 0 0 0 0 26.58 26.60 26.59 10.58 48.62

304 -1.33 -391.0 2177 1771 2950 2046 46.4 -11.7 36 305 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1771 2949 2949 2046 0 0 0 0 0 0 26.63 26.64 26.64 10.58 49.17

365 -1.33 -391.0 2177 1770 2951 2046 53.8 -12.7 42 366 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1769 2951 2951 2046 0 0 0 0 0 0 26.66 26.67 26.67 10.57 48.97

424 -1.33 -391.0 2177 1771 2957 2046 62.0 -13.6 48 429 0.00 2.70 0.00 0.000 516 0.000 0.082 2178 792 2953 2953 2046 0 0 0 0 0 0 26.74 26.34 26.71 10.58 49.76

483 -1.33 -391.0 2177 792 2955 2046 71.2 -16.1 58 489 0.00 2.38 0.00 0.000 1030 0.000 0.031 2177 1776 2953 2953 2055 0 0 0 0 0 0 26.53 26.51 26.54 10.58 49.25

561 -1.33 -391.0 2177 1781 2956 2055 80.5 -13.9 65 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1780 2957 2957 2046 0 0 0 0 0 0 26.72 26.71 26.74 10.57 49.52

662 -1.33 -391.0 2178 1780 2959 2046 92.9 -12.1 72 677 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1784 2959 2959 2050 0 0 0 0 0 0 26.72 26.72 26.77 10.64 49.72

763 -1.33 -391.0 2177 1782 2961 2050 104.1 -10.8 79 778 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1782 2962 2962 2046 0 0 0 0 0 0 26.70 26.72 26.72 10.51 50.35

864 -1.33 -391.0 2178 1781 2963 2046 115.2 -11.1 86 879 0.00 2.70 0.00 0.000 516 0.000 0.083 2178 785 2964 2964 2052 0 0 0 0 0 0 26.70 26.37 26.71 10.56 49.37

923 -1.33 -391.0 2177 787 2965 2052 121.1 -12.4 89 939 0.00 2.35 0.00 0.000 1030 0.000 0.033 2178 1775 2965 2965 2046 0 0 0 0 0 0 26.52 26.48 26.53 10.57 49.25

1025 -1.33 -391.0 2177 1776 2967 2046 135.2 -11.4 96 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1781 2968 2968 2046 0 0 0 0 0 0 26.68 26.64 26.66 10.57 49.09

1126 -1.33 -391.0 2181 1776 2969 2046 147.6 -12.4 103 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1775 2970 2970 2046 0 0 0 0 0 0 26.63 26.67 26.64 10.51 49.72

1155 end dive: TARGET_DEPTH_EXCEEDED

state 1156 begin apogee

1159 -0.33 0.0 2179 1776 2971 2046 151.2 -12.1 105 1187 3.38 0.00 22.48 2.102 10244 0.060 0.000 2499 1772 2514 2514 2045 0 0 0 0 0 0 26.38 25.30 23.99 10.56 49.13

1189 end apogee: CONTROL_FINISHED_OK

state 1189 begin climb

1190 1.33 391.0 2499 1776 2514 2045 154.5 0.0 109 1221 5.57 0.00 21.73 2.079 11270 0.041 0.000 3022 1783 2089 2089 2046 0 0 0 0 0 0 25.55 25.69 23.43 10.47 48.70

1282 1.42 447.1 3027 1776 2087 2046 148.6 9.0 121 1291 0.25 0.00 4.50 1.250 10246 0.041 0.000 3058 1776 2032 2032 2045 0 0 0 0 0 0 25.56 25.24 23.96 10.35 48.42

1351 1.42 447.1 3055 1776 2031 2045 140.8 11.5 128 1353 0.00 0.00 0.08 0.002 8198 0.000 0.000 3057 1776 2031 2031 2046 0 0 0 0 0 0 25.96 25.96 25.96 10.36 49.05

1411 1.42 447.1 3055 1776 2029 2046 133.6 11.7 134 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1775 2030 2030 2046 0 0 0 0 0 0 26.13 26.13 26.14 10.35 48.97

1471 1.42 447.1 3063 1776 2028 2046 127.3 11.6 140 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1776 2028 2028 2043 0 0 0 0 0 0 26.26 26.29 26.29 10.35 49.25

1531 1.42 447.1 3055 1775 2027 2043 121.1 10.5 146 1532 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1776 2027 2027 2046 0 0 0 0 0 0 26.34 26.40 26.36 10.36 49.92

1591 1.42 447.1 3055 1776 2025 2046 114.8 10.3 152 1597 0.00 2.78 0.00 0.000 516 0.000 0.086 3055 796 2025 2025 2043 0 0 0 0 0 0 26.43 26.09 26.44 10.37 49.88

1657 1.42 447.1 3055 790 2024 2043 107.5 11.4 163 1663 0.00 2.40 0.00 0.000 1030 0.000 0.034 3053 1790 2024 2024 2043 0 0 0 0 0 0 26.32 26.30 26.34 10.35 50.15

1723 1.42 447.1 3055 1796 2023 2043 100.8 10.0 170 1725 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1797 2022 2022 2042 0 0 0 0 0 0 26.55 26.56 26.56 10.34 50.07

1783 1.42 447.1 3055 1796 2021 2042 94.7 10.1 176 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 1796 2021 2021 2045 0 0 0 0 0 0 26.60 26.61 26.61 10.35 50.90

1844 1.42 451.4 3055 1796 2020 2045 88.8 9.9 182 1845 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1796 2020 2020 2049 0 0 0 0 0 0 26.62 26.65 26.65 10.35 50.55

1904 1.45 470.3 3055 1797 2019 2049 83.1 9.7 188 1908 0.00 0.00 2.47 0.328 8198 0.000 0.000 3056 1796 2006 2006 2047 0 0 0 0 0 0 26.67 26.26 25.26 10.35 51.14

1963 1.45 470.3 3055 1796 2005 2047 77.1 10.1 194 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1796 2004 2004 2046 0 0 0 0 0 0 26.69 26.70 26.70 10.35 50.74

2024 1.46 474.4 3055 1796 2004 2046 71.0 9.9 200 2026 0.00 0.00 0.50 0.003 8198 0.000 0.000 3056 1795 2001 2001 2047 0 0 0 0 0 0 26.73 26.73 26.71 10.34 50.98

2083 1.46 474.4 3055 1797 2002 2047 64.9 10.0 206 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1796 2002 2002 2046 0 0 0 0 0 0 26.74 26.76 26.76 10.35 51.73

2158 1.46 474.4 3055 1796 2001 2046 58.0 11.2 212 2174 0.00 2.72 0.00 0.000 516 0.000 0.086 3056 790 2000 2000 2046 0 0 0 0 0 0 26.72 26.44 26.74 10.34 51.45

2260 1.46 474.4 3055 790 1998 2046 47.0 10.7 219 2276 0.00 2.30 0.00 0.000 1030 0.000 0.036 3055 1772 1997 1997 2046 0 0 0 0 0 0 26.63 26.56 26.57 10.35 50.98

2362 1.52 517.4 3055 1772 1995 2046 37.2 9.3 226 2379 0.17 2.42 3.53 0.506 10500 0.054 0.042 3084 2715 1955 1955 2046 0 0 0 0 0 0 26.53 26.17 25.60 10.34 51.18

2451 1.52 517.4 3084 2715 1953 2046 27.7 10.9 232 2467 0.00 2.38 0.00 0.000 1030 0.000 0.043 3085 1780 1953 1953 2046 0 0 0 0 0 0 26.45 26.39 26.48 10.33 50.82

2553 1.59 559.3 3084 1787 1951 2046 18.2 9.3 239 2569 0.12 2.75 3.70 0.435 10756 0.070 0.087 3110 783 1906 1906 2046 0 0 0 0 0 0 26.48 26.13 25.65 10.36 50.15

2637 1.59 559.3 3110 783 1903 2046 8.1 10.7 246 2642 0.00 2.38 0.00 0.000 1030 0.000 0.034 3110 1786 1904 1904 2046 0 0 0 0 0 0 26.46 26.46 26.45 10.29 50.39

2704 1.88 756.6 3109 1795 1902 2046 3.0 6.6 253 2717 0.85 0.00 10.00 0.617 10502 0.024 0.000 3207 1793 1694 1694 2045 0 0 0 0 0 0 26.49 26.22 25.69 10.33 50.19

2724 end climb: SURFACE_DEPTH_REACHED

state 2724 begin surface coast

2744 end surface coast: CONTROL_FINISHED_OK

state 2744 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	23	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	10	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	62	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	2615	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	230518,144313,4742.1367,-12225.7031,8,1.0,53,16.3,0.3,200.9,8,3.0	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.057806,0.367334
_SM_DEPTHo	1.43	KALMAN_X	-6153.051270,-713.554749,356.110748,5727.560059,112.796753
_SM_ANGLEo	-59.4	KALMAN_Y	-13372.029297,-1491.451172,496.578796,13002.561523,-181.536987
GPS2	230518,145721,4741.9722,-12225.7354,6,1.1,51,16.3,0.5,174.1,8,3.0	MHEAD_RNG_PITCHd_Wd	352.6,3932,-11.2,-10.000,-15.05,5957
SPEED_LIMITS	0.143,0.372	D_GRID	172

SM_CCo	2842,0.00,0.000,0,0,1692,759.96	_24V_AH	23.43,6.180
SM_GC	1.22,30.52,0.08,0.00,0.023,0.130,0.000,232,1768,1692,-7.45,0.55,759.96,0,0,0,0,0,0,26.12,26.36,26.32	_10V_AH	10.21,6.964
IRIDIUM_FIX	4808.40,-12337.82,230518,134258	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,0.752745	FG_AHR_10Vo	0.000
HUMID	49.80	MEM	312912
INTERNAL_PRESSURE	10.2481	DATA_FILE_SIZE	7047,258
TCM_TEMP	10.00	CAP_FILE_SIZE	120623,0
XPDR_PINGS	1	CFSIZE	1023623168,1018347520
ALTIM_TOP_PING	15.0,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	121.1,48.1	GPS	230518,154639,4742.335,-12225.479,8,0.9,10,16.3,0.0,0.0,9,4.6
SC_FREEKB	3896864

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	64	122	184.98	nil	0	0	0.00
Roll_motor	35	130	107.94	nil	0	0	0.00
VBD_pump_during_apogee	68	2102	3397.36	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	26	103	62.76	nil	0	0	0.00
Iridium_during_connect	20	160	75.47	SciCon	2773	70	4553.07
Iridium_during_xfer	630	223	3291.91	nil	0	0	0.00
Transponder_ping	152	420	1500.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	52	50	26.99
TT8	304	19	61.50
LPSleep	1131	2	25.30
TT8_Active	147	19	29.82
TT8_Sampling	2051	39	833.46
TT8_CF8	77	45	36.27
TT8_Kalman	33	81	27.93
Analog_circuits	559	12	68.50
GPS_charging	0	0	0.00
Compass	381	5	19.49
RAFOS	0	0	0.00
Transponder	1505	30	461.24

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	231	1775	1830	2045	0.0	0.0	0	21	0.00	0.00	-8.48	0.000	16390	0.000	0.000	239	1776	2945	2945	2046	0	0	0	0	0	0	26.39	25.65	26.39	10.33	49.60
23	-1.33	-391.0	231	1773	2940	2046	1.9	0.0	1	48	23.62	0.00	0.00	0.000	2566	0.122	0.000	2179	1776	2945	2945	2045	0	0	0	0	0	0	26.03	26.15	26.13	10.63	49.96
106	-1.33	-391.0	2173	1776	2945	2045	21.9	-12.9	11	111	0.00	2.72	0.00	0.000	516	0.000	0.080	2174	791	2943	2943	2046	0	0	0	0	0	0	26.46	26.09	26.46	10.60	48.85
177	-1.33	-391.0	2177	791	2946	2046	31.7	-14.2	23	183	0.00	2.38	0.00	0.000	1030	0.000	0.033	2177	1764	2947	2947	2045	0	0	0	0	0	0	26.33	26.31	26.34	10.58	49.21
243	-1.33	-391.0	2177	1771	2948	2045	39.5	-11.6	30	245	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	1771	2948	2948	2046	0	0	0	0	0	0	26.58	26.60	26.59	10.58	48.62
304	-1.33	-391.0	2177	1771	2950	2046	46.4	-11.7	36	305	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1771	2949	2949	2046	0	0	0	0	0	0	26.63	26.64	26.64	10.58	49.17
365	-1.33	-391.0	2177	1770	2951	2046	53.8	-12.7	42	366	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1769	2951	2951	2046	0	0	0	0	0	0	26.66	26.67	26.67	10.57	48.97
424	-1.33	-391.0	2177	1771	2957	2046	62.0	-13.6	48	429	0.00	2.70	0.00	0.000	516	0.000	0.082	2178	792	2953	2953	2046	0	0	0	0	0	0	26.74	26.34	26.71	10.58	49.76
483	-1.33	-391.0	2177	792	2955	2046	71.2	-16.1	58	489	0.00	2.38	0.00	0.000	1030	0.000	0.031	2177	1776	2953	2953	2055	0	0	0	0	0	0	26.53	26.51	26.54	10.58	49.25
561	-1.33	-391.0	2177	1781	2956	2055	80.5	-13.9	65	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1780	2957	2957	2046	0	0	0	0	0	0	26.72	26.71	26.74	10.57	49.52
662	-1.33	-391.0	2178	1780	2959	2046	92.9	-12.1	72	677	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1784	2959	2959	2050	0	0	0	0	0	0	26.72	26.72	26.77	10.64	49.72
763	-1.33	-391.0	2177	1782	2961	2050	104.1	-10.8	79	778	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1782	2962	2962	2046	0	0	0	0	0	0	26.70	26.72	26.72	10.51	50.35
864	-1.33	-391.0	2178	1781	2963	2046	115.2	-11.1	86	879	0.00	2.70	0.00	0.000	516	0.000	0.083	2178	785	2964	2964	2052	0	0	0	0	0	0	26.70	26.37	26.71	10.56	49.37
923	-1.33	-391.0	2177	787	2965	2052	121.1	-12.4	89	939	0.00	2.35	0.00	0.000	1030	0.000	0.033	2178	1775	2965	2965	2046	0	0	0	0	0	0	26.52	26.48	26.53	10.57	49.25
1025	-1.33	-391.0	2177	1776	2967	2046	135.2	-11.4	96	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1781	2968	2968	2046	0	0	0	0	0	0	26.68	26.64	26.66	10.57	49.09
1126	-1.33	-391.0	2181	1776	2969	2046	147.6	-12.4	103	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1775	2970	2970	2046	0	0	0	0	0	0	26.63	26.67	26.64	10.51	49.72
1155	end dive: TARGET_DEPTH_EXCEEDED
state	1156	begin apogee
1159	-0.33	0.0	2179	1776	2971	2046	151.2	-12.1	105	1187	3.38	0.00	22.48	2.102	10244	0.060	0.000	2499	1772	2514	2514	2045	0	0	0	0	0	0	26.38	25.30	23.99	10.56	49.13
1189	end apogee: CONTROL_FINISHED_OK
state	1189	begin climb
1190	1.33	391.0	2499	1776	2514	2045	154.5	0.0	109	1221	5.57	0.00	21.73	2.079	11270	0.041	0.000	3022	1783	2089	2089	2046	0	0	0	0	0	0	25.55	25.69	23.43	10.47	48.70
1282	1.42	447.1	3027	1776	2087	2046	148.6	9.0	121	1291	0.25	0.00	4.50	1.250	10246	0.041	0.000	3058	1776	2032	2032	2045	0	0	0	0	0	0	25.56	25.24	23.96	10.35	48.42
1351	1.42	447.1	3055	1776	2031	2045	140.8	11.5	128	1353	0.00	0.00	0.08	0.002	8198	0.000	0.000	3057	1776	2031	2031	2046	0	0	0	0	0	0	25.96	25.96	25.96	10.36	49.05
1411	1.42	447.1	3055	1776	2029	2046	133.6	11.7	134	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1775	2030	2030	2046	0	0	0	0	0	0	26.13	26.13	26.14	10.35	48.97
1471	1.42	447.1	3063	1776	2028	2046	127.3	11.6	140	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1776	2028	2028	2043	0	0	0	0	0	0	26.26	26.29	26.29	10.35	49.25
1531	1.42	447.1	3055	1775	2027	2043	121.1	10.5	146	1532	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1776	2027	2027	2046	0	0	0	0	0	0	26.34	26.40	26.36	10.36	49.92
1591	1.42	447.1	3055	1776	2025	2046	114.8	10.3	152	1597	0.00	2.78	0.00	0.000	516	0.000	0.086	3055	796	2025	2025	2043	0	0	0	0	0	0	26.43	26.09	26.44	10.37	49.88
1657	1.42	447.1	3055	790	2024	2043	107.5	11.4	163	1663	0.00	2.40	0.00	0.000	1030	0.000	0.034	3053	1790	2024	2024	2043	0	0	0	0	0	0	26.32	26.30	26.34	10.35	50.15
1723	1.42	447.1	3055	1796	2023	2043	100.8	10.0	170	1725	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1797	2022	2022	2042	0	0	0	0	0	0	26.55	26.56	26.56	10.34	50.07
1783	1.42	447.1	3055	1796	2021	2042	94.7	10.1	176	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	1796	2021	2021	2045	0	0	0	0	0	0	26.60	26.61	26.61	10.35	50.90
1844	1.42	451.4	3055	1796	2020	2045	88.8	9.9	182	1845	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1796	2020	2020	2049	0	0	0	0	0	0	26.62	26.65	26.65	10.35	50.55
1904	1.45	470.3	3055	1797	2019	2049	83.1	9.7	188	1908	0.00	0.00	2.47	0.328	8198	0.000	0.000	3056	1796	2006	2006	2047	0	0	0	0	0	0	26.67	26.26	25.26	10.35	51.14
1963	1.45	470.3	3055	1796	2005	2047	77.1	10.1	194	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1796	2004	2004	2046	0	0	0	0	0	0	26.69	26.70	26.70	10.35	50.74
2024	1.46	474.4	3055	1796	2004	2046	71.0	9.9	200	2026	0.00	0.00	0.50	0.003	8198	0.000	0.000	3056	1795	2001	2001	2047	0	0	0	0	0	0	26.73	26.73	26.71	10.34	50.98
2083	1.46	474.4	3055	1797	2002	2047	64.9	10.0	206	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1796	2002	2002	2046	0	0	0	0	0	0	26.74	26.76	26.76	10.35	51.73
2158	1.46	474.4	3055	1796	2001	2046	58.0	11.2	212	2174	0.00	2.72	0.00	0.000	516	0.000	0.086	3056	790	2000	2000	2046	0	0	0	0	0	0	26.72	26.44	26.74	10.34	51.45
2260	1.46	474.4	3055	790	1998	2046	47.0	10.7	219	2276	0.00	2.30	0.00	0.000	1030	0.000	0.036	3055	1772	1997	1997	2046	0	0	0	0	0	0	26.63	26.56	26.57	10.35	50.98
2362	1.52	517.4	3055	1772	1995	2046	37.2	9.3	226	2379	0.17	2.42	3.53	0.506	10500	0.054	0.042	3084	2715	1955	1955	2046	0	0	0	0	0	0	26.53	26.17	25.60	10.34	51.18
2451	1.52	517.4	3084	2715	1953	2046	27.7	10.9	232	2467	0.00	2.38	0.00	0.000	1030	0.000	0.043	3085	1780	1953	1953	2046	0	0	0	0	0	0	26.45	26.39	26.48	10.33	50.82
2553	1.59	559.3	3084	1787	1951	2046	18.2	9.3	239	2569	0.12	2.75	3.70	0.435	10756	0.070	0.087	3110	783	1906	1906	2046	0	0	0	0	0	0	26.48	26.13	25.65	10.36	50.15
2637	1.59	559.3	3110	783	1903	2046	8.1	10.7	246	2642	0.00	2.38	0.00	0.000	1030	0.000	0.034	3110	1786	1904	1904	2046	0	0	0	0	0	0	26.46	26.46	26.45	10.29	50.39
2704	1.88	756.6	3109	1795	1902	2046	3.0	6.6	253	2717	0.85	0.00	10.00	0.617	10502	0.024	0.000	3207	1793	1694	1694	2045	0	0	0	0	0	0	26.49	26.22	25.69	10.33	50.19
2724	end climb: SURFACE_DEPTH_REACHED
state	2724	begin surface coast
2744	end surface coast: CONTROL_FINISHED_OK
state	2744	begin surface