Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 950 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 25 HEADING -1 C_ROLL_CLIMB 950 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 180 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 3 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 31 ALTIM_PULSE 1

D_ABORT 220 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 C_VBD 2520 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2479 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 400 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 15 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.917877 SEABIRD_C_H 1.1284475

MASS 74087 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE 4

HD_A 0.0020000001 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 15 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 15 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020000001 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.017689999 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PRESSURE_YINT -50.917877 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 180 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2479 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 950 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 950 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2520 MASS 74087 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 400 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 3 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE5 151 MISSION 18 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 25 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 220 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240217,161201,4744.1074,-12224.7324,3,1.0,38,16.3,0.0,0.0,9,4.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.113579,-0.355503

_SM_DEPTHo 0.97 KALMAN_X -764.761047,-269.846771,460.446381,879.882690,73.350220

_SM_ANGLEo -45.1 KALMAN_Y 1554.001343,-614.978516,663.832031,1524.350464,417.911804

GPS2 240217,161707,4744.1455,-12224.6826,6,1.0,17,16.3,0.0,0.0,10,4.6 MHEAD_RNG_PITCHd_Wd 181.4,307,-2.0,-10.000,-15.00,9491

SPEED_LIMITS 0.373,0.383 D_GRID 176

Post-dive calculations and measurements:

FINISH 0.1,1.019490 _24V_AH 23.25,4.208

SM_CCo 3194,0.00,0.000,0,0,1223,1113.60 _10V_AH 9.53,4.542

SM_GC 1.14,31.25,0.00,0.00,0.039,0.000,0.000,233,943,1223,-7.02,-0.32,1113.60,1,0,0,0,0,0,25.77,26.71,26.27 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,151826 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.226947 MEM 322164

HUMID 30.31 DATA_FILE_SIZE 21182,246

INTERNAL_PRESSURE 9.14453 CAP_FILE_SIZE 55654,1

TCM_TEMP 7.00 CFSIZE 1024409600,1016922112

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

ALTIM_TOP_PING 18.8,5.0 GPS 240217,171222,4744.306,-12224.590,3,0.8,14,16.3,0.0,0.0,12,4.8

ALTIM_BOTTOM_PING 100.4,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 66 130 201.88 SBE_CT 164 24 92.06

Roll_motor 3 1464 111.55 AA4330 315 33 242.06

VBD_pump_during_apogee 99 2104 4850.18 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1279 17 529.64

VBD_valve 0 0 0.00 SAT1001 2258 17 934.74

Iridium_during_init 21 103 50.82 nil 0 0 0.00

Iridium_during_connect 40 160 151.14 nil 0 0 0.00

Iridium_during_xfer 164 223 851.48 nil 0 0 0.00

Transponder_ping 1 420 12.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 8.71

TT8 662 19 124.97

LPSleep 59 2 1.25

TT8_Active 231 19 43.60

TT8_Sampling 2540 39 963.65

TT8_CF8 41 45 18.28

TT8_Kalman 33 81 26.06

Analog_circuits 883 12 101.05

GPS_charging 0 0 0.00

Compass 365 15 52.27

RAFOS 0 0 0.00

Transponder 7 30 2.05

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.92 -391.0 231 963 1032 4094 0.0 0.0 0 34 0.00 0.05 -13.05 0.000 16390 0.000 1.465 232 951 2983 2983 4095 0 0 0 0 0 0 26.39 24.73 26.40 9.16 31.05

36 -0.92 -391.0 231 951 2984 4094 1.0 0.0 1 64 24.45 0.00 0.00 0.000 2054 0.131 0.000 2174 942 2987 2987 4094 0 0 0 0 0 0 25.87 26.06 26.03 9.54 31.45

125 -0.92 -391.0 2174 943 2988 4094 27.3 -11.4 8 138 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 2989 2989 4094 0 0 0 0 0 0 26.36 26.37 26.37 9.55 31.76

199 -0.92 -391.0 2174 943 2990 4094 34.1 -9.2 14 213 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 2990 2990 4094 0 0 0 0 0 0 26.43 26.44 26.44 9.55 31.25

273 -0.92 -391.0 2174 943 2991 4095 41.6 -10.1 20 286 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 943 2992 2992 4095 0 0 0 0 0 0 26.48 26.50 26.50 9.56 31.41

346 -0.92 -391.0 2174 943 2993 4094 49.2 -10.5 26 360 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 943 2993 2993 4095 0 0 0 0 0 0 26.53 26.55 26.55 9.55 31.17

420 -0.92 -391.0 2174 943 2994 4094 56.7 -10.1 32 434 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 2994 2994 4095 0 0 0 0 0 0 26.57 26.59 26.58 9.56 31.02

495 -0.92 -391.0 2174 943 2995 4094 63.7 -9.4 38 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 2995 2995 4095 0 0 0 0 0 0 26.61 26.63 26.62 9.56 31.02

569 -0.92 -391.0 2174 943 2997 4094 70.6 -9.3 44 583 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 943 2997 2997 4095 0 0 0 0 0 0 26.64 26.65 26.65 9.56 31.02

643 -0.92 -391.0 2174 943 2998 4094 77.4 -9.1 50 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 2998 2998 4095 0 0 0 0 0 0 26.67 26.68 26.68 9.56 30.94

717 -0.92 -391.0 2174 943 2999 4095 84.5 -9.5 56 731 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3000 3000 4095 0 0 0 0 0 0 26.70 26.71 26.71 9.57 31.09

791 -0.92 -391.0 2174 943 3001 4094 90.9 -8.6 62 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 943 3001 3001 4094 0 0 0 0 0 0 26.72 26.73 26.73 9.56 31.68

866 -0.92 -391.0 2174 943 3002 4094 97.0 -7.9 68 879 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3002 3002 4094 0 0 0 0 0 0 26.73 26.75 26.75 9.57 30.90

942 -0.92 -391.0 2174 943 3003 4094 102.3 -7.0 74 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 943 3003 3003 4094 0 0 0 0 0 0 26.76 26.77 26.77 9.57 31.45

1017 -0.92 -391.0 2174 943 3004 4095 107.5 -6.9 80 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3004 3004 4095 0 0 0 0 0 0 26.77 26.79 26.79 9.56 30.90

1091 -0.92 -391.0 2174 943 3005 4095 112.8 -7.1 86 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3005 3005 4095 0 0 0 0 0 0 26.79 26.81 26.80 9.57 30.94

1166 -0.92 -391.0 2174 943 3007 4095 118.4 -7.7 92 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3007 3007 4095 0 0 0 0 0 0 26.80 26.82 26.82 9.57 31.53

1240 -0.92 -391.0 2174 943 3007 4094 124.5 -8.2 98 1254 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3008 3008 4095 0 0 0 0 0 0 26.82 26.84 26.83 9.57 30.66

1314 -0.92 -391.0 2174 943 3009 4094 131.1 -9.0 104 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3010 3010 4094 0 0 0 0 0 0 26.84 26.85 26.84 9.56 30.54

1389 -0.92 -391.0 2174 943 3011 4094 138.1 -9.3 110 1403 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3011 3011 4094 0 0 0 0 0 0 26.84 26.86 26.86 9.57 31.13

1463 -0.92 -391.0 2174 943 3013 4095 145.1 -9.6 116 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 943 3013 3013 4094 0 0 0 0 0 0 26.86 26.87 26.86 9.56 31.02

1524 end dive: TARGET_DEPTH_EXCEEDED

state 1525 begin apogee

1528 -0.33 0.0 2174 943 3014 4094 150.9 -9.5 121 1569 1.98 0.00 25.92 2.105 10246 0.058 0.000 2362 943 2520 2520 4094 0 0 0 0 0 0 26.55 25.00 23.96 9.57 31.41

1570 end apogee: CONTROL_FINISHED_OK

state 1570 begin climb

1571 0.92 391.0 2362 943 2520 4095 154.1 0.0 124 1613 4.28 0.00 24.75 2.101 10246 0.054 0.000 2751 943 2063 2063 4094 0 0 0 0 0 0 25.60 24.36 23.36 9.48 30.42

1674 1.87 865.1 2751 943 2063 4094 152.0 4.9 132 1716 3.17 0.00 29.38 2.076 10246 0.025 0.000 3061 944 1511 1511 4094 0 0 0 0 0 0 25.58 24.22 23.25 9.39 30.46

1777 1.87 865.1 3061 943 1510 4094 141.4 10.6 140 1790 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 943 1510 1510 4094 0 0 0 0 0 0 25.67 25.70 25.69 9.29 30.07

1851 2.05 958.7 3061 943 1508 4094 134.7 9.0 146 1866 0.50 0.00 6.97 1.479 10246 0.034 0.000 3118 943 1404 1404 4094 0 0 0 0 0 0 25.74 25.03 24.08 9.29 30.39

1927 2.11 988.0 3118 943 1403 4094 127.4 9.7 152 1942 0.10 0.00 3.65 0.910 10246 0.075 0.000 3136 943 1367 1367 4094 0 0 0 0 0 0 25.77 25.18 24.26 9.27 30.58

2002 2.11 988.0 3136 943 1366 4094 119.6 10.4 158 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1365 1365 4094 0 0 0 0 0 0 26.08 26.09 26.09 9.26 30.42

2076 2.11 988.0 3136 943 1363 4094 111.5 10.9 164 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 943 1363 1363 4094 0 0 0 0 0 0 26.20 26.22 26.21 9.25 30.54

2150 2.11 988.0 3135 943 1361 4094 103.1 11.3 170 2164 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1361 1361 4095 0 0 0 0 0 0 26.29 26.31 26.30 9.26 30.46

2224 2.11 988.0 3136 943 1359 4095 94.4 11.8 176 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1358 1358 4094 0 0 0 0 0 0 26.36 26.38 26.38 9.25 30.46

2298 2.11 988.0 3136 943 1356 4094 85.6 11.5 182 2312 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 943 1356 1356 4094 0 0 0 0 0 0 26.42 26.44 26.44 9.25 30.39

2372 2.11 988.0 3136 943 1354 4094 77.1 11.5 188 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1354 1354 4094 0 0 0 0 0 0 26.48 26.49 26.49 9.25 30.35

2446 2.11 988.0 3136 943 1351 4094 68.6 11.2 194 2460 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1351 1351 4094 0 0 0 0 0 0 26.52 26.53 26.53 9.25 30.66

2520 2.11 988.0 3136 943 1350 4094 60.8 10.5 200 2534 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 943 1349 1349 4094 0 0 0 0 0 0 26.56 26.58 26.57 9.25 30.50

2594 2.19 1024.2 3136 943 1347 4094 53.5 9.6 206 2609 0.17 0.00 2.95 0.410 10246 0.054 0.000 3161 943 1325 1325 4094 0 0 0 0 0 0 26.36 25.82 25.15 9.24 30.46

2669 2.19 1024.2 3161 943 1323 4094 46.0 10.2 212 2683 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 943 1322 1322 4094 0 0 0 0 0 0 26.60 26.62 26.61 9.24 30.90

2743 2.19 1024.2 3161 943 1320 4094 37.2 12.1 218 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 943 1320 1320 4094 0 0 0 0 0 0 26.63 26.65 26.65 9.24 30.78

2817 2.19 1024.2 3160 943 1318 4094 28.5 11.6 224 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 943 1318 1318 4094 0 0 0 0 0 0 26.66 26.67 26.67 9.24 30.86

2891 2.19 1024.2 3160 943 1316 4094 20.2 11.2 230 2908 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 943 1315 1315 4094 0 0 0 0 0 0 26.69 26.70 26.70 9.23 31.33

2968 2.35 1106.7 3160 943 1313 4094 12.7 9.1 236 2983 0.47 0.00 5.50 0.505 10246 0.044 0.000 3211 943 1226 1226 4094 0 0 0 0 0 0 26.46 26.03 25.58 9.24 30.54

3044 2.35 1106.7 3211 943 1224 4094 5.0 10.9 242 3058 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 943 1224 1224 4094 0 0 0 0 0 0 26.67 26.69 26.69 9.22 30.42

3072 end climb: SURFACE_DEPTH_REACHED

state 3072 begin surface coast

3097 end surface coast: CONTROL_FINISHED_OK

state 3097 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	950	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	25	HEADING	-1	C_ROLL_CLIMB	950	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	180	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	3	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	31	ALTIM_PULSE	1
D_ABORT	220	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	C_VBD	2520	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2479	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	400	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	15	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.917877	SEABIRD_C_H	1.1284475
MASS	74087	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	4
HD_A	0.0020000001	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	240217,161201,4744.1074,-12224.7324,3,1.0,38,16.3,0.0,0.0,9,4.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.113579,-0.355503
_SM_DEPTHo	0.97	KALMAN_X	-764.761047,-269.846771,460.446381,879.882690,73.350220
_SM_ANGLEo	-45.1	KALMAN_Y	1554.001343,-614.978516,663.832031,1524.350464,417.911804
GPS2	240217,161707,4744.1455,-12224.6826,6,1.0,17,16.3,0.0,0.0,10,4.6	MHEAD_RNG_PITCHd_Wd	181.4,307,-2.0,-10.000,-15.00,9491
SPEED_LIMITS	0.373,0.383	D_GRID	176

FINISH	0.1,1.019490	_24V_AH	23.25,4.208
SM_CCo	3194,0.00,0.000,0,0,1223,1113.60	_10V_AH	9.53,4.542
SM_GC	1.14,31.25,0.00,0.00,0.039,0.000,0.000,233,943,1223,-7.02,-0.32,1113.60,1,0,0,0,0,0,25.77,26.71,26.27	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,151826	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.226947	MEM	322164
HUMID	30.31	DATA_FILE_SIZE	21182,246
INTERNAL_PRESSURE	9.14453	CAP_FILE_SIZE	55654,1
TCM_TEMP	7.00	CFSIZE	1024409600,1016922112
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
ALTIM_TOP_PING	18.8,5.0	GPS	240217,171222,4744.306,-12224.590,3,0.8,14,16.3,0.0,0.0,12,4.8
ALTIM_BOTTOM_PING	100.4,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	66	130	201.88	SBE_CT	164	24	92.06
Roll_motor	3	1464	111.55	AA4330	315	33	242.06
VBD_pump_during_apogee	99	2104	4850.18	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1279	17	529.64
VBD_valve	0	0	0.00	SAT1001	2258	17	934.74
Iridium_during_init	21	103	50.82	nil	0	0	0.00
Iridium_during_connect	40	160	151.14	nil	0	0	0.00
Iridium_during_xfer	164	223	851.48	nil	0	0	0.00
Transponder_ping	1	420	12.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	8.71
TT8	662	19	124.97
LPSleep	59	2	1.25
TT8_Active	231	19	43.60
TT8_Sampling	2540	39	963.65
TT8_CF8	41	45	18.28
TT8_Kalman	33	81	26.06
Analog_circuits	883	12	101.05
GPS_charging	0	0	0.00
Compass	365	15	52.27
RAFOS	0	0	0.00
Transponder	7	30	2.05

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.92	-391.0	231	963	1032	4094	0.0	0.0	0	34	0.00	0.05	-13.05	0.000	16390	0.000	1.465	232	951	2983	2983	4095	0	0	0	0	0	0	26.39	24.73	26.40	9.16	31.05
36	-0.92	-391.0	231	951	2984	4094	1.0	0.0	1	64	24.45	0.00	0.00	0.000	2054	0.131	0.000	2174	942	2987	2987	4094	0	0	0	0	0	0	25.87	26.06	26.03	9.54	31.45
125	-0.92	-391.0	2174	943	2988	4094	27.3	-11.4	8	138	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	2989	2989	4094	0	0	0	0	0	0	26.36	26.37	26.37	9.55	31.76
199	-0.92	-391.0	2174	943	2990	4094	34.1	-9.2	14	213	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	2990	2990	4094	0	0	0	0	0	0	26.43	26.44	26.44	9.55	31.25
273	-0.92	-391.0	2174	943	2991	4095	41.6	-10.1	20	286	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	943	2992	2992	4095	0	0	0	0	0	0	26.48	26.50	26.50	9.56	31.41
346	-0.92	-391.0	2174	943	2993	4094	49.2	-10.5	26	360	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	943	2993	2993	4095	0	0	0	0	0	0	26.53	26.55	26.55	9.55	31.17
420	-0.92	-391.0	2174	943	2994	4094	56.7	-10.1	32	434	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	2994	2994	4095	0	0	0	0	0	0	26.57	26.59	26.58	9.56	31.02
495	-0.92	-391.0	2174	943	2995	4094	63.7	-9.4	38	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	2995	2995	4095	0	0	0	0	0	0	26.61	26.63	26.62	9.56	31.02
569	-0.92	-391.0	2174	943	2997	4094	70.6	-9.3	44	583	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	943	2997	2997	4095	0	0	0	0	0	0	26.64	26.65	26.65	9.56	31.02
643	-0.92	-391.0	2174	943	2998	4094	77.4	-9.1	50	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	2998	2998	4095	0	0	0	0	0	0	26.67	26.68	26.68	9.56	30.94
717	-0.92	-391.0	2174	943	2999	4095	84.5	-9.5	56	731	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3000	3000	4095	0	0	0	0	0	0	26.70	26.71	26.71	9.57	31.09
791	-0.92	-391.0	2174	943	3001	4094	90.9	-8.6	62	805	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	943	3001	3001	4094	0	0	0	0	0	0	26.72	26.73	26.73	9.56	31.68
866	-0.92	-391.0	2174	943	3002	4094	97.0	-7.9	68	879	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3002	3002	4094	0	0	0	0	0	0	26.73	26.75	26.75	9.57	30.90
942	-0.92	-391.0	2174	943	3003	4094	102.3	-7.0	74	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	943	3003	3003	4094	0	0	0	0	0	0	26.76	26.77	26.77	9.57	31.45
1017	-0.92	-391.0	2174	943	3004	4095	107.5	-6.9	80	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3004	3004	4095	0	0	0	0	0	0	26.77	26.79	26.79	9.56	30.90
1091	-0.92	-391.0	2174	943	3005	4095	112.8	-7.1	86	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3005	3005	4095	0	0	0	0	0	0	26.79	26.81	26.80	9.57	30.94
1166	-0.92	-391.0	2174	943	3007	4095	118.4	-7.7	92	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3007	3007	4095	0	0	0	0	0	0	26.80	26.82	26.82	9.57	31.53
1240	-0.92	-391.0	2174	943	3007	4094	124.5	-8.2	98	1254	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3008	3008	4095	0	0	0	0	0	0	26.82	26.84	26.83	9.57	30.66
1314	-0.92	-391.0	2174	943	3009	4094	131.1	-9.0	104	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3010	3010	4094	0	0	0	0	0	0	26.84	26.85	26.84	9.56	30.54
1389	-0.92	-391.0	2174	943	3011	4094	138.1	-9.3	110	1403	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3011	3011	4094	0	0	0	0	0	0	26.84	26.86	26.86	9.57	31.13
1463	-0.92	-391.0	2174	943	3013	4095	145.1	-9.6	116	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	943	3013	3013	4094	0	0	0	0	0	0	26.86	26.87	26.86	9.56	31.02
1524	end dive: TARGET_DEPTH_EXCEEDED
state	1525	begin apogee
1528	-0.33	0.0	2174	943	3014	4094	150.9	-9.5	121	1569	1.98	0.00	25.92	2.105	10246	0.058	0.000	2362	943	2520	2520	4094	0	0	0	0	0	0	26.55	25.00	23.96	9.57	31.41
1570	end apogee: CONTROL_FINISHED_OK
state	1570	begin climb
1571	0.92	391.0	2362	943	2520	4095	154.1	0.0	124	1613	4.28	0.00	24.75	2.101	10246	0.054	0.000	2751	943	2063	2063	4094	0	0	0	0	0	0	25.60	24.36	23.36	9.48	30.42
1674	1.87	865.1	2751	943	2063	4094	152.0	4.9	132	1716	3.17	0.00	29.38	2.076	10246	0.025	0.000	3061	944	1511	1511	4094	0	0	0	0	0	0	25.58	24.22	23.25	9.39	30.46
1777	1.87	865.1	3061	943	1510	4094	141.4	10.6	140	1790	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	943	1510	1510	4094	0	0	0	0	0	0	25.67	25.70	25.69	9.29	30.07
1851	2.05	958.7	3061	943	1508	4094	134.7	9.0	146	1866	0.50	0.00	6.97	1.479	10246	0.034	0.000	3118	943	1404	1404	4094	0	0	0	0	0	0	25.74	25.03	24.08	9.29	30.39
1927	2.11	988.0	3118	943	1403	4094	127.4	9.7	152	1942	0.10	0.00	3.65	0.910	10246	0.075	0.000	3136	943	1367	1367	4094	0	0	0	0	0	0	25.77	25.18	24.26	9.27	30.58
2002	2.11	988.0	3136	943	1366	4094	119.6	10.4	158	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1365	1365	4094	0	0	0	0	0	0	26.08	26.09	26.09	9.26	30.42
2076	2.11	988.0	3136	943	1363	4094	111.5	10.9	164	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	943	1363	1363	4094	0	0	0	0	0	0	26.20	26.22	26.21	9.25	30.54
2150	2.11	988.0	3135	943	1361	4094	103.1	11.3	170	2164	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1361	1361	4095	0	0	0	0	0	0	26.29	26.31	26.30	9.26	30.46
2224	2.11	988.0	3136	943	1359	4095	94.4	11.8	176	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1358	1358	4094	0	0	0	0	0	0	26.36	26.38	26.38	9.25	30.46
2298	2.11	988.0	3136	943	1356	4094	85.6	11.5	182	2312	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	943	1356	1356	4094	0	0	0	0	0	0	26.42	26.44	26.44	9.25	30.39
2372	2.11	988.0	3136	943	1354	4094	77.1	11.5	188	2386	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1354	1354	4094	0	0	0	0	0	0	26.48	26.49	26.49	9.25	30.35
2446	2.11	988.0	3136	943	1351	4094	68.6	11.2	194	2460	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1351	1351	4094	0	0	0	0	0	0	26.52	26.53	26.53	9.25	30.66
2520	2.11	988.0	3136	943	1350	4094	60.8	10.5	200	2534	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	943	1349	1349	4094	0	0	0	0	0	0	26.56	26.58	26.57	9.25	30.50
2594	2.19	1024.2	3136	943	1347	4094	53.5	9.6	206	2609	0.17	0.00	2.95	0.410	10246	0.054	0.000	3161	943	1325	1325	4094	0	0	0	0	0	0	26.36	25.82	25.15	9.24	30.46
2669	2.19	1024.2	3161	943	1323	4094	46.0	10.2	212	2683	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	943	1322	1322	4094	0	0	0	0	0	0	26.60	26.62	26.61	9.24	30.90
2743	2.19	1024.2	3161	943	1320	4094	37.2	12.1	218	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	943	1320	1320	4094	0	0	0	0	0	0	26.63	26.65	26.65	9.24	30.78
2817	2.19	1024.2	3160	943	1318	4094	28.5	11.6	224	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	943	1318	1318	4094	0	0	0	0	0	0	26.66	26.67	26.67	9.24	30.86
2891	2.19	1024.2	3160	943	1316	4094	20.2	11.2	230	2908	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	943	1315	1315	4094	0	0	0	0	0	0	26.69	26.70	26.70	9.23	31.33
2968	2.35	1106.7	3160	943	1313	4094	12.7	9.1	236	2983	0.47	0.00	5.50	0.505	10246	0.044	0.000	3211	943	1226	1226	4094	0	0	0	0	0	0	26.46	26.03	25.58	9.24	30.54
3044	2.35	1106.7	3211	943	1224	4094	5.0	10.9	242	3058	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	943	1224	1224	4094	0	0	0	0	0	0	26.67	26.69	26.69	9.22	30.42
3072	end climb: SURFACE_DEPTH_REACHED
state	3072	begin surface coast
3097	end surface coast: CONTROL_FINISHED_OK
state	3097	begin surface