Glider dive log

Shilshole 02May17 * SG402 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.013 ROLL_DEG 55 ALTIM_TOP_PING_RANGE 20

MISSION 3 HD_C 2.4999999e-05 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 26 HEADING -1 C_ROLL_CLIMB 2278 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 25 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 20 ALTIM_PING_DELTA 0

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 24 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PULSE 3

D_ABORT 210 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 4

D_NO_BLEED 210 SM_CC 350 ROLL_MAXERRORS 1 XPDR_VALID 0

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 50 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4045 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85000002 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 360 DEVICE4 -1

T_DIVE 33 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_MISSION 43 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 6 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 0 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 100940 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 97

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 48

USE_ICE -1 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 350 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3600 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2490 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

MAX_BUOY 250 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

SPEED_FACTOR 1 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -48.771183 SEABIRD_C_H 1.1416712

MASS 72342 PITCH_AD_RATE 50 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 280 COMPASS_USE 4

HD_A 0.0049999999 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 350

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 100 PITCH_AD_RATE 50 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 12.7 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 350 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 45 PITCH_VBD_SHIFT 0.0015 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 0.0049999999 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 3.3081022e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -48.771183 T_DIVE 33

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 25 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 43

CF8_MAXERRORS 20 ID 402 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 0 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 97 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 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 0

C_ROLL_CLIMB 2278 LOGGERDEVICE4 -1 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2550 MASS 72342 ROLL_DEG 55 USE_ICE -1

DBDW 0 MASS_COMP 0 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.85000002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 280 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 250 ROLL_TIMEOUT 20 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 24 VBD_MAX 4045

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 3 SEABIRD_C_G -9.6809101 VBD_MIN 50

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 26 NAV_MODE 2 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 0 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FINISH 0 N_GPS 100940 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 0

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_J 2.9009848e-06

D_OFFGRID 100 PHONE_DEVICE 48 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030517,103447,4743.9146,-12224.5928,17,0.8,27,16.3,0.0,0.0,10,10.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.089557,-0.276230

_SM_DEPTHo 1.27 KALMAN_X -4778.529297,-89.627159,301.001312,4784.877930,123.860657

_SM_ANGLEo -51.0 KALMAN_Y -842.715454,-1638.487305,257.183594,4307.621094,6.584015

GPS2 030517,103845,4743.9678,-12224.5801,5,0.8,11,16.3,0.6,13.3,10,9.8 MHEAD_RNG_PITCHd_Wd 174.7,2732,-16.2,-10.101,-19.18,3655

SPEED_LIMITS 0.101,0.290 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.2,1.019235 _24V_AH 24.41,4.204

SM_CCo 1781,6.12,1.505,0,0,2135,350.20 _10V_AH 10.57,2.258

SM_GC 2.39,39.25,0.00,6.12,0.673,0.000,1.505,363,2276,2135,-6.65,-0.09,350.20,17,0,0,0,0,0,26.11,26.99,25.88 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,030517,103529 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.10486 MEM 323548

HUMID 39.09 DATA_FILE_SIZE 10534,276

INTERNAL_PRESSURE 10.3617 CAP_FILE_SIZE 53525,0

TCM_TEMP 9.50 CFSIZE 1024409600,1019068416

XPDR_PINGS 16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,23,0,0,1,0

ALTIM_TOP_PING 19.1,19.0 CURRENT 0.175,2.28,1

ALTIM_BOTTOM_PING 100.7,92.4 GPS 030517,111019,4743.870,-12224.593,4,0.9,9,16.3,0.5,27.9,10,7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 75 898 1647.21 SBE_CT 183 24 107.54

Roll_motor 25 260 161.49 nil 0 0 0.00

VBD_pump_during_apogee 31 4961 3829.75 nil 0 0 0.00

VBD_pump_during_surface 6 1504 224.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.75 nil 0 0 0.00

Iridium_during_connect 24 160 96.69 nil 0 0 0.00

Iridium_during_xfer 114 223 623.02 nil 0 0 0.00

Transponder_ping 4 420 48.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.73

TT8 732 19 153.25

LPSleep 427 2 9.90

TT8_Active 268 19 56.13

TT8_Sampling 600 39 252.58

TT8_CF8 28 45 13.78

TT8_Kalman 33 81 28.91

Analog_circuits 557 12 70.68

GPS_charging 0 0 0.00

Compass 407 5 21.54

RAFOS 0 0 0.00

Transponder 9 30 2.92

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 -1.64 -244.4 370 2285 2134 764 0.0 0.0 0 26 0.00 0.00 -6.07 0.000 16390 0.000 0.000 370 2285 2842 2842 806 0 0 0 0 0 0 26.70 25.44 26.72 10.42 39.60

27 -1.64 -244.4 370 2286 2843 805 1.2 0.0 1 52 20.05 0.00 0.00 0.000 2566 0.464 0.000 1953 2285 2844 2844 828 0 0 0 0 0 0 26.22 26.39 26.36 10.59 40.35

83 -1.64 -244.4 1952 2285 2845 711 11.4 -15.5 10 89 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2285 2845 2845 720 0 0 0 0 0 0 26.65 26.67 26.67 10.59 39.91

120 -1.64 -244.4 1952 2285 2846 684 17.0 -15.7 16 126 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2285 2846 2846 698 0 0 0 0 0 0 26.70 26.72 26.72 10.59 39.21

157 -1.64 -244.4 1953 2285 2846 684 22.6 -15.2 22 163 0.00 3.25 0.00 0.000 516 0.000 0.201 1953 1086 2847 2847 701 0 0 0 0 0 0 26.74 26.39 26.75 10.59 39.32

284 -1.64 -244.4 1953 1086 2850 656 40.5 -12.8 43 291 0.00 3.08 0.00 0.000 1030 0.000 0.139 1953 2273 2850 2850 676 0 0 0 0 0 0 26.63 26.52 26.66 10.58 39.17

321 -1.64 -244.4 1953 2273 2851 663 44.8 -11.2 49 328 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2851 2851 682 0 0 0 0 0 0 26.86 26.89 26.89 10.58 39.17

359 -1.64 -244.4 1953 2273 2852 670 48.8 -10.6 55 365 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2852 2852 686 0 0 0 0 0 0 26.89 26.91 26.91 10.58 39.25

395 -1.64 -244.4 1953 2273 2852 669 52.5 -9.9 61 402 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2852 2852 687 0 0 0 0 0 0 26.92 26.94 26.93 10.58 39.28

433 -1.64 -244.4 1953 2273 2853 669 56.5 -11.1 67 439 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2853 2853 686 0 0 0 0 0 0 26.94 26.95 26.95 10.58 39.01

469 -1.64 -244.4 1953 2273 2854 669 60.4 -10.7 73 476 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2854 2854 687 0 0 0 0 0 0 26.96 26.97 26.97 10.58 39.05

506 -1.64 -244.4 1953 2273 2854 670 64.5 -11.1 79 512 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2855 2855 685 0 0 0 0 0 0 26.97 26.99 26.98 10.59 39.64

543 -1.64 -244.4 1953 2273 2855 669 68.0 -9.3 85 550 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2855 2855 688 0 0 0 0 0 0 26.99 27.01 27.00 10.58 39.13

581 -1.64 -244.4 1953 2272 2856 670 71.4 -9.5 91 587 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2273 2856 2856 686 0 0 0 0 0 0 27.01 27.02 27.02 10.58 39.17

619 -1.64 -244.4 1952 2273 2855 669 75.3 -10.5 97 625 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2273 2857 2857 688 0 0 0 0 0 0 27.02 27.03 27.03 10.58 39.28

657 -1.64 -244.4 1953 2273 2857 670 79.5 -10.8 103 663 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2273 2856 2856 686 0 0 0 0 0 0 27.03 27.05 27.05 10.58 38.97

693 -1.64 -244.4 1953 2273 2858 669 83.8 -11.5 109 700 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2273 2858 2858 688 0 0 0 0 0 0 27.05 27.06 27.06 10.59 39.48

731 -1.64 -244.4 1953 2273 2859 670 88.3 -12.0 115 737 0.00 0.00 0.00 0.000 6 0.000 0.000 1953 2272 2859 2859 686 0 0 0 0 0 0 27.06 27.08 27.08 10.58 39.64

767 -1.64 -244.4 1953 2273 2860 669 92.6 -11.9 121 774 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2273 2859 2859 687 0 0 0 0 0 0 27.08 27.09 27.08 10.59 38.97

804 -1.64 -244.4 1953 2273 2861 670 97.3 -12.5 127 811 0.00 3.17 0.00 0.000 516 0.000 0.201 1954 1086 2860 2860 689 0 0 0 0 0 0 27.09 26.72 27.10 10.59 39.36

831 end dive: TARGET_DEPTH_EXCEEDED

state 831 begin apogee

838 -0.39 0.0 1953 2280 2861 689 100.7 -13.6 131 864 4.43 0.00 16.30 4.961 10246 0.273 0.000 2355 2281 2548 2548 3965 0 0 0 0 0 0 26.74 26.06 24.87 10.58 38.97

865 end apogee: CONTROL_FINISHED_OK

state 865 begin climb

866 1.64 244.4 2355 2280 2549 881 103.4 0.0 135 897 11.35 0.00 15.32 4.877 10502 0.899 0.000 2989 2281 2261 2261 4021 6 0 0 0 0 0 25.75 25.56 24.41 10.52 39.01

928 1.64 244.4 2987 2280 2260 704 98.9 10.7 145 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2260 2260 697 0 0 0 0 0 0 26.21 26.23 26.22 10.45 38.65

965 1.64 244.4 2988 2280 2259 679 94.1 13.1 151 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2259 2259 676 0 0 0 0 0 0 26.34 26.36 26.35 10.45 38.69

1002 1.64 244.4 2988 2280 2259 665 89.0 14.0 157 1009 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2259 2259 663 0 0 0 0 0 0 26.44 26.45 26.45 10.45 39.13

1039 1.64 244.4 2987 2280 2258 655 83.7 14.0 163 1045 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2257 2257 654 0 0 0 0 0 0 26.51 26.52 26.52 10.46 39.13

1075 1.64 244.4 2988 2280 2256 648 78.4 14.6 169 1082 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2280 2256 2256 648 0 0 0 0 0 0 26.57 26.59 26.58 10.45 39.01

1112 1.64 244.4 2988 2280 2255 642 73.3 13.7 175 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2280 2255 2255 643 0 0 0 0 0 0 26.63 26.64 26.63 10.45 39.28

1150 1.64 244.4 2988 2280 2254 638 68.6 13.2 181 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2254 2254 640 0 0 0 0 0 0 26.67 26.69 26.69 10.45 39.36

1187 1.64 244.4 2988 2280 2253 635 63.6 12.8 187 1193 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2253 2253 636 0 0 0 0 0 0 26.71 26.72 26.73 10.45 39.80

1224 1.64 244.4 2987 2280 2252 691 59.0 12.9 193 1231 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2252 2252 684 0 0 0 0 0 0 26.75 26.77 26.76 10.44 39.28

1261 1.64 244.4 2988 2280 2251 668 54.6 11.3 199 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2251 2251 666 0 0 0 0 0 0 26.78 26.80 26.79 10.44 39.17

1297 1.64 244.4 2987 2280 2250 655 50.5 11.2 205 1304 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2251 2251 655 0 0 0 0 0 0 26.81 26.83 26.82 10.44 39.17

1334 1.64 244.4 2988 2280 2249 647 46.3 11.2 211 1340 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2249 2249 647 0 0 0 0 0 0 26.84 26.86 26.86 10.44 38.85

1371 1.64 244.4 2988 2281 2248 641 42.3 11.4 217 1378 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2280 2248 2248 642 0 0 0 0 0 0 26.86 26.88 26.88 10.44 39.17

1408 1.64 244.4 2988 2280 2248 637 38.3 10.3 223 1415 0.00 3.38 0.00 0.000 260 0.000 0.261 2988 3481 2248 2248 643 0 0 0 0 0 0 26.89 26.51 26.90 10.44 39.17

1535 1.64 244.4 2988 3481 2244 741 20.8 13.9 244 1542 0.00 3.08 0.00 0.000 1030 0.000 0.117 2989 2281 2243 2243 729 0 0 0 0 0 0 26.77 26.68 26.78 10.43 39.44

1574 1.64 244.4 2988 2280 2242 705 16.1 11.9 250 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2281 2242 2242 697 0 0 0 0 0 0 26.98 26.99 26.98 10.43 39.56

1610 1.64 244.4 2988 2281 2241 676 11.8 11.5 256 1616 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2281 2241 2241 672 0 0 0 0 0 0 26.99 27.01 27.01 10.43 38.97

1647 1.64 244.4 2988 2281 2241 664 7.8 10.9 262 1654 0.00 3.22 0.00 0.000 516 0.000 0.214 2988 1082 2240 2240 665 0 0 0 0 0 0 27.01 26.64 27.02 10.43 39.40

1704 1.66 254.4 2988 1082 2239 652 2.4 9.8 271 1711 0.00 3.08 0.00 0.000 1030 0.000 0.139 2988 2276 2239 2239 653 0 0 0 0 0 0 26.81 26.70 26.84 10.44 39.44

1716 end climb: SURFACE_DEPTH_REACHED

state 1716 begin surface coast

1736 end surface coast: CONTROL_FINISHED_OK

state 1736 begin surface

ID	402	HD_B	0.013	ROLL_DEG	55	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	2.4999999e-05	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	26	HEADING	-1	C_ROLL_CLIMB	2278	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	25	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	20	ALTIM_PING_DELTA	0
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	24	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PULSE	3
D_ABORT	210	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	4
D_NO_BLEED	210	SM_CC	350	ROLL_MAXERRORS	1	XPDR_VALID	0
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	50	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4045	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85000002	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	360	DEVICE4	-1
T_DIVE	33	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_MISSION	43	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	6	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	0	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	100940	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	97
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	48
USE_ICE	-1	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	350	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3600	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2490	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
MAX_BUOY	250	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
SPEED_FACTOR	1	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.771183	SEABIRD_C_H	1.1416712
MASS	72342	PITCH_AD_RATE	50	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	280	COMPASS_USE	4
HD_A	0.0049999999	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0

GPS1	030517,103447,4743.9146,-12224.5928,17,0.8,27,16.3,0.0,0.0,10,10.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.089557,-0.276230
_SM_DEPTHo	1.27	KALMAN_X	-4778.529297,-89.627159,301.001312,4784.877930,123.860657
_SM_ANGLEo	-51.0	KALMAN_Y	-842.715454,-1638.487305,257.183594,4307.621094,6.584015
GPS2	030517,103845,4743.9678,-12224.5801,5,0.8,11,16.3,0.6,13.3,10,9.8	MHEAD_RNG_PITCHd_Wd	174.7,2732,-16.2,-10.101,-19.18,3655
SPEED_LIMITS	0.101,0.290	D_GRID	174

FINISH	0.2,1.019235	_24V_AH	24.41,4.204
SM_CCo	1781,6.12,1.505,0,0,2135,350.20	_10V_AH	10.57,2.258
SM_GC	2.39,39.25,0.00,6.12,0.673,0.000,1.505,363,2276,2135,-6.65,-0.09,350.20,17,0,0,0,0,0,26.11,26.99,25.88	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,030517,103529	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.10486	MEM	323548
HUMID	39.09	DATA_FILE_SIZE	10534,276
INTERNAL_PRESSURE	10.3617	CAP_FILE_SIZE	53525,0
TCM_TEMP	9.50	CFSIZE	1024409600,1019068416
XPDR_PINGS	16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,23,0,0,1,0
ALTIM_TOP_PING	19.1,19.0	CURRENT	0.175,2.28,1
ALTIM_BOTTOM_PING	100.7,92.4	GPS	030517,111019,4743.870,-12224.593,4,0.9,9,16.3,0.5,27.9,10,7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	75	898	1647.21	SBE_CT	183	24	107.54
Roll_motor	25	260	161.49	nil	0	0	0.00
VBD_pump_during_apogee	31	4961	3829.75	nil	0	0	0.00
VBD_pump_during_surface	6	1504	224.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.75	nil	0	0	0.00
Iridium_during_connect	24	160	96.69	nil	0	0	0.00
Iridium_during_xfer	114	223	623.02	nil	0	0	0.00
Transponder_ping	4	420	48.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.73
TT8	732	19	153.25
LPSleep	427	2	9.90
TT8_Active	268	19	56.13
TT8_Sampling	600	39	252.58
TT8_CF8	28	45	13.78
TT8_Kalman	33	81	28.91
Analog_circuits	557	12	70.68
GPS_charging	0	0	0.00
Compass	407	5	21.54
RAFOS	0	0	0.00
Transponder	9	30	2.92

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	-1.64	-244.4	370	2285	2134	764	0.0	0.0	0	26	0.00	0.00	-6.07	0.000	16390	0.000	0.000	370	2285	2842	2842	806	0	0	0	0	0	0	26.70	25.44	26.72	10.42	39.60
27	-1.64	-244.4	370	2286	2843	805	1.2	0.0	1	52	20.05	0.00	0.00	0.000	2566	0.464	0.000	1953	2285	2844	2844	828	0	0	0	0	0	0	26.22	26.39	26.36	10.59	40.35
83	-1.64	-244.4	1952	2285	2845	711	11.4	-15.5	10	89	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2285	2845	2845	720	0	0	0	0	0	0	26.65	26.67	26.67	10.59	39.91
120	-1.64	-244.4	1952	2285	2846	684	17.0	-15.7	16	126	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2285	2846	2846	698	0	0	0	0	0	0	26.70	26.72	26.72	10.59	39.21
157	-1.64	-244.4	1953	2285	2846	684	22.6	-15.2	22	163	0.00	3.25	0.00	0.000	516	0.000	0.201	1953	1086	2847	2847	701	0	0	0	0	0	0	26.74	26.39	26.75	10.59	39.32
284	-1.64	-244.4	1953	1086	2850	656	40.5	-12.8	43	291	0.00	3.08	0.00	0.000	1030	0.000	0.139	1953	2273	2850	2850	676	0	0	0	0	0	0	26.63	26.52	26.66	10.58	39.17
321	-1.64	-244.4	1953	2273	2851	663	44.8	-11.2	49	328	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2851	2851	682	0	0	0	0	0	0	26.86	26.89	26.89	10.58	39.17
359	-1.64	-244.4	1953	2273	2852	670	48.8	-10.6	55	365	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2852	2852	686	0	0	0	0	0	0	26.89	26.91	26.91	10.58	39.25
395	-1.64	-244.4	1953	2273	2852	669	52.5	-9.9	61	402	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2852	2852	687	0	0	0	0	0	0	26.92	26.94	26.93	10.58	39.28
433	-1.64	-244.4	1953	2273	2853	669	56.5	-11.1	67	439	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2853	2853	686	0	0	0	0	0	0	26.94	26.95	26.95	10.58	39.01
469	-1.64	-244.4	1953	2273	2854	669	60.4	-10.7	73	476	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2854	2854	687	0	0	0	0	0	0	26.96	26.97	26.97	10.58	39.05
506	-1.64	-244.4	1953	2273	2854	670	64.5	-11.1	79	512	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2855	2855	685	0	0	0	0	0	0	26.97	26.99	26.98	10.59	39.64
543	-1.64	-244.4	1953	2273	2855	669	68.0	-9.3	85	550	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2855	2855	688	0	0	0	0	0	0	26.99	27.01	27.00	10.58	39.13
581	-1.64	-244.4	1953	2272	2856	670	71.4	-9.5	91	587	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2273	2856	2856	686	0	0	0	0	0	0	27.01	27.02	27.02	10.58	39.17
619	-1.64	-244.4	1952	2273	2855	669	75.3	-10.5	97	625	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2273	2857	2857	688	0	0	0	0	0	0	27.02	27.03	27.03	10.58	39.28
657	-1.64	-244.4	1953	2273	2857	670	79.5	-10.8	103	663	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2273	2856	2856	686	0	0	0	0	0	0	27.03	27.05	27.05	10.58	38.97
693	-1.64	-244.4	1953	2273	2858	669	83.8	-11.5	109	700	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2273	2858	2858	688	0	0	0	0	0	0	27.05	27.06	27.06	10.59	39.48
731	-1.64	-244.4	1953	2273	2859	670	88.3	-12.0	115	737	0.00	0.00	0.00	0.000	6	0.000	0.000	1953	2272	2859	2859	686	0	0	0	0	0	0	27.06	27.08	27.08	10.58	39.64
767	-1.64	-244.4	1953	2273	2860	669	92.6	-11.9	121	774	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2273	2859	2859	687	0	0	0	0	0	0	27.08	27.09	27.08	10.59	38.97
804	-1.64	-244.4	1953	2273	2861	670	97.3	-12.5	127	811	0.00	3.17	0.00	0.000	516	0.000	0.201	1954	1086	2860	2860	689	0	0	0	0	0	0	27.09	26.72	27.10	10.59	39.36
831	end dive: TARGET_DEPTH_EXCEEDED
state	831	begin apogee
838	-0.39	0.0	1953	2280	2861	689	100.7	-13.6	131	864	4.43	0.00	16.30	4.961	10246	0.273	0.000	2355	2281	2548	2548	3965	0	0	0	0	0	0	26.74	26.06	24.87	10.58	38.97
865	end apogee: CONTROL_FINISHED_OK
state	865	begin climb
866	1.64	244.4	2355	2280	2549	881	103.4	0.0	135	897	11.35	0.00	15.32	4.877	10502	0.899	0.000	2989	2281	2261	2261	4021	6	0	0	0	0	0	25.75	25.56	24.41	10.52	39.01
928	1.64	244.4	2987	2280	2260	704	98.9	10.7	145	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2260	2260	697	0	0	0	0	0	0	26.21	26.23	26.22	10.45	38.65
965	1.64	244.4	2988	2280	2259	679	94.1	13.1	151	971	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2259	2259	676	0	0	0	0	0	0	26.34	26.36	26.35	10.45	38.69
1002	1.64	244.4	2988	2280	2259	665	89.0	14.0	157	1009	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2259	2259	663	0	0	0	0	0	0	26.44	26.45	26.45	10.45	39.13
1039	1.64	244.4	2987	2280	2258	655	83.7	14.0	163	1045	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2257	2257	654	0	0	0	0	0	0	26.51	26.52	26.52	10.46	39.13
1075	1.64	244.4	2988	2280	2256	648	78.4	14.6	169	1082	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2280	2256	2256	648	0	0	0	0	0	0	26.57	26.59	26.58	10.45	39.01
1112	1.64	244.4	2988	2280	2255	642	73.3	13.7	175	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	2280	2255	2255	643	0	0	0	0	0	0	26.63	26.64	26.63	10.45	39.28
1150	1.64	244.4	2988	2280	2254	638	68.6	13.2	181	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2254	2254	640	0	0	0	0	0	0	26.67	26.69	26.69	10.45	39.36
1187	1.64	244.4	2988	2280	2253	635	63.6	12.8	187	1193	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2253	2253	636	0	0	0	0	0	0	26.71	26.72	26.73	10.45	39.80
1224	1.64	244.4	2987	2280	2252	691	59.0	12.9	193	1231	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2252	2252	684	0	0	0	0	0	0	26.75	26.77	26.76	10.44	39.28
1261	1.64	244.4	2988	2280	2251	668	54.6	11.3	199	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2251	2251	666	0	0	0	0	0	0	26.78	26.80	26.79	10.44	39.17
1297	1.64	244.4	2987	2280	2250	655	50.5	11.2	205	1304	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2251	2251	655	0	0	0	0	0	0	26.81	26.83	26.82	10.44	39.17
1334	1.64	244.4	2988	2280	2249	647	46.3	11.2	211	1340	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2249	2249	647	0	0	0	0	0	0	26.84	26.86	26.86	10.44	38.85
1371	1.64	244.4	2988	2281	2248	641	42.3	11.4	217	1378	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2280	2248	2248	642	0	0	0	0	0	0	26.86	26.88	26.88	10.44	39.17
1408	1.64	244.4	2988	2280	2248	637	38.3	10.3	223	1415	0.00	3.38	0.00	0.000	260	0.000	0.261	2988	3481	2248	2248	643	0	0	0	0	0	0	26.89	26.51	26.90	10.44	39.17
1535	1.64	244.4	2988	3481	2244	741	20.8	13.9	244	1542	0.00	3.08	0.00	0.000	1030	0.000	0.117	2989	2281	2243	2243	729	0	0	0	0	0	0	26.77	26.68	26.78	10.43	39.44
1574	1.64	244.4	2988	2280	2242	705	16.1	11.9	250	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2281	2242	2242	697	0	0	0	0	0	0	26.98	26.99	26.98	10.43	39.56
1610	1.64	244.4	2988	2281	2241	676	11.8	11.5	256	1616	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2281	2241	2241	672	0	0	0	0	0	0	26.99	27.01	27.01	10.43	38.97
1647	1.64	244.4	2988	2281	2241	664	7.8	10.9	262	1654	0.00	3.22	0.00	0.000	516	0.000	0.214	2988	1082	2240	2240	665	0	0	0	0	0	0	27.01	26.64	27.02	10.43	39.40
1704	1.66	254.4	2988	1082	2239	652	2.4	9.8	271	1711	0.00	3.08	0.00	0.000	1030	0.000	0.139	2988	2276	2239	2239	653	0	0	0	0	0	0	26.81	26.70	26.84	10.44	39.44
1716	end climb: SURFACE_DEPTH_REACHED
state	1716	begin surface coast
1736	end surface coast: CONTROL_FINISHED_OK
state	1736	begin surface