Glider dive log

Shilshole 02May17 * SG402 * Dive index * Mission links * Dive 31 * 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 31 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 19 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 14 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 400 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 400 ROLL_TIMEOUT 20 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4045

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 14 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 31 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 030517,133355,4743.2676,-12224.4180,12,0.9,34,16.3,0.0,0.0,10,7.5 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.201611,-0.291431

_SM_DEPTHo 1.21 KALMAN_X -3260.601318,97.794678,208.354752,3425.382812,220.412140

_SM_ANGLEo -50.3 KALMAN_Y -89.719757,-1365.290771,484.411072,1788.148926,79.523438

GPS2 030517,133823,4743.2822,-12224.3799,5,0.7,10,16.3,0.0,0.0,12,8.0 MHEAD_RNG_PITCHd_Wd 185.0,1540,-12.6,-10.101,-15.91,5808

SPEED_LIMITS 0.101,0.354 D_GRID 176

Post-dive calculations and measurements:

FINISH 0.2,1.021071 _10V_AH 10.55,2.350

SM_CCo 1786,0.00,0.000,0,0,2064,413.10 FG_AHR_24Vo 0.000

SM_GC 1.33,26.40,0.00,0.00,0.097,0.000,0.000,369,2283,2064,-6.61,0.23,413.10,0,0,0,0,0,0,26.77,27.03,26.82 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,030517,133452 MEM 323536

TT8_MAMPS 0.02247,0.110103 DATA_FILE_SIZE 10546,270

HUMID 38.89 CAP_FILE_SIZE 52526,0

INTERNAL_PRESSURE 10.3324 CFSIZE 1024409600,1018822656

TCM_TEMP 9.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,0,0,1,0

XPDR_PINGS 18 CURRENT 0.075,203.27,1

ALTIM_TOP_PING 19.7,19.7 GPS 030517,140952,4742.901,-12224.534,4,0.8,7,16.3,0.0,0.0,10,9.4

_24V_AH 24.08,4.550

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 59 630 908.55 SBE_CT 178 24 103.42

Roll_motor 12 201 61.39 nil 0 0 0.00

VBD_pump_during_apogee 47 5152 5939.64 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 32 103 81.80 nil 0 0 0.00

Iridium_during_connect 26 160 102.44 nil 0 0 0.00

Iridium_during_xfer 136 223 731.58 nil 0 0 0.00

Transponder_ping 5 420 53.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 6.23

TT8 705 19 147.39

LPSleep 465 2 10.76

TT8_Active 259 19 54.20

TT8_Sampling 618 39 259.73

TT8_CF8 30 45 14.60

TT8_Kalman 33 81 28.89

Analog_circuits 549 12 69.60

GPS_charging 0 0 0.00

Compass 399 5 21.05

RAFOS 0 0 0.00

Transponder 9 30 2.87

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 -1.57 -391.0 354 2286 2135 763 0.0 0.0 0 26 0.00 0.00 -7.65 0.000 16390 0.000 0.000 354 2287 3018 3018 784 0 0 0 0 0 0 26.77 25.52 26.80 10.41 39.60

28 -1.57 -391.0 354 2286 3017 784 1.2 0.0 1 60 20.55 3.25 0.00 0.000 2564 0.472 0.169 1976 1078 3020 3020 838 0 0 0 0 0 0 26.32 26.37 26.46 10.62 40.15

144 -1.57 -391.0 1975 1078 3023 674 25.0 -14.6 20 151 0.00 3.10 0.00 0.000 1030 0.000 0.137 1976 2276 3023 3023 697 0 0 0 0 0 0 26.59 26.48 26.62 10.62 38.97

183 -1.57 -391.0 1975 2276 3023 684 30.2 -12.9 26 188 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2276 3024 3024 703 0 0 0 0 0 0 26.84 26.85 26.85 10.62 39.28

219 -1.57 -391.0 1975 2276 3024 678 34.8 -12.4 32 225 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2277 3025 3025 698 0 0 0 0 0 0 26.86 26.88 26.87 10.62 39.48

256 -1.57 -391.0 1976 2276 3025 683 39.3 -12.1 38 262 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2276 3025 3025 702 0 0 0 0 0 0 26.89 26.90 26.90 10.61 39.52

292 -1.57 -391.0 1975 2276 3026 676 43.9 -11.9 44 298 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2277 3027 3027 697 0 0 0 0 0 0 26.91 26.92 26.92 10.62 38.81

329 -1.57 -391.0 1975 2276 3027 683 48.1 -12.2 50 335 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2276 3027 3027 702 0 0 0 0 0 0 26.93 26.94 26.94 10.61 39.09

367 -1.57 -391.0 1975 2277 3028 677 52.4 -12.1 56 373 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2277 3028 3028 697 0 0 0 0 0 0 26.95 26.96 26.96 10.62 38.62

403 -1.57 -391.0 1975 2276 3029 683 57.1 -12.3 62 409 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2276 3029 3029 703 0 0 0 0 0 0 26.97 26.98 26.98 10.62 39.28

440 -1.57 -391.0 1975 2276 3029 677 61.9 -12.8 68 446 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2277 3030 3030 697 0 0 0 0 0 0 26.98 27.00 27.00 10.62 39.44

477 -1.57 -391.0 1975 2276 3030 683 66.7 -13.0 74 483 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2277 3030 3030 703 0 0 0 0 0 0 27.00 27.01 27.01 10.61 39.25

513 -1.57 -391.0 1975 2277 3031 678 71.3 -12.1 80 520 0.00 3.22 0.00 0.000 516 0.000 0.201 1976 1077 3032 3032 702 0 0 0 0 0 0 27.02 26.65 27.03 10.62 39.25

575 -1.57 -391.0 1975 1077 3033 679 79.5 -13.3 90 582 0.00 3.10 0.00 0.000 1030 0.000 0.139 1976 2281 3033 3033 702 0 0 0 0 0 0 26.82 26.71 26.84 10.62 39.13

612 -1.57 -391.0 1975 2282 3034 677 84.1 -11.9 96 618 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2282 3034 3034 697 0 0 0 0 0 0 27.05 27.06 27.06 10.62 39.21

649 -1.57 -391.0 1975 2282 3034 730 88.1 -10.8 102 655 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2282 3035 3035 743 0 0 0 0 0 0 27.06 27.08 27.08 10.62 39.21

686 -1.57 -391.0 1975 2282 3035 688 91.9 -10.7 108 691 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2282 3035 3035 706 0 0 0 0 0 0 27.07 27.09 27.08 10.62 39.32

722 -1.57 -391.0 1976 2282 3036 690 95.8 -10.9 114 728 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2282 3036 3036 708 0 0 0 0 0 0 27.08 27.10 27.10 10.62 39.99

762 end dive: TARGET_DEPTH_EXCEEDED

state 762 begin apogee

765 -0.39 0.0 1976 2282 3038 684 100.2 -12.2 120 797 4.07 0.00 24.30 5.152 10246 0.233 0.000 2355 2283 2549 2549 3672 0 0 0 0 0 0 26.76 25.80 24.63 10.62 39.95

798 end apogee: CONTROL_FINISHED_OK

state 798 begin climb

799 1.57 391.0 2355 2282 2549 882 102.6 0.0 125 837 8.80 0.00 23.58 5.053 10502 0.631 0.000 2967 2283 2088 2088 3497 2 0 0 0 0 0 25.56 25.19 24.08 10.51 39.60

868 1.57 391.0 2966 2283 2088 707 97.8 10.4 136 874 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2088 2088 696 0 0 0 0 0 0 25.97 25.98 25.98 10.41 39.01

904 1.57 391.0 2966 2283 2087 679 93.5 11.9 142 911 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2086 2086 668 0 0 0 0 0 0 26.16 26.17 26.17 10.40 39.21

941 1.57 391.0 2966 2283 2085 661 88.6 13.3 148 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2086 2086 654 0 0 0 0 0 0 26.29 26.31 26.30 10.40 39.17

978 1.57 391.0 2966 2283 2084 648 83.8 13.6 154 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2084 2084 642 0 0 0 0 0 0 26.39 26.41 26.40 10.40 38.65

1015 1.57 391.0 2966 2282 2083 638 79.2 12.1 160 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2282 2084 2084 634 0 0 0 0 0 0 26.48 26.48 26.48 10.41 39.01

1052 1.57 391.0 2966 2283 2082 630 75.1 10.8 166 1059 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2283 2082 2082 626 0 0 0 0 0 0 26.54 26.55 26.55 10.40 38.97

1091 1.57 391.0 2966 2283 2081 623 70.9 11.8 172 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2081 2081 621 0 0 0 0 0 0 26.60 26.62 26.62 10.40 38.62

1127 1.57 391.0 2966 2283 2081 618 66.5 11.7 178 1134 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2081 2081 616 0 0 0 0 0 0 26.65 26.67 26.67 10.40 39.56

1164 1.57 391.0 2966 2283 2080 613 61.9 12.5 184 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2080 2080 612 0 0 0 0 0 0 26.70 26.72 26.71 10.40 39.36

1201 1.57 391.0 2966 2283 2079 609 57.3 12.4 190 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2079 2079 609 0 0 0 0 0 0 26.74 26.75 26.74 10.40 39.21

1238 1.57 391.0 2966 2283 2078 606 52.9 11.7 196 1244 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2077 2077 606 0 0 0 0 0 0 26.77 26.77 26.79 10.40 39.72

1274 1.57 391.0 2966 2283 2077 603 48.4 12.6 202 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2077 2077 603 0 0 0 0 0 0 26.80 26.82 26.82 10.40 38.73

1312 1.57 391.0 2966 2283 2076 600 44.0 12.0 208 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2076 2076 600 0 0 0 0 0 0 26.84 26.85 26.84 10.40 39.05

1348 1.57 391.0 2966 2283 2075 598 39.5 12.5 214 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2075 2075 599 0 0 0 0 0 0 26.86 26.88 26.87 10.40 39.36

1385 1.57 391.0 2966 2283 2073 596 34.9 11.6 220 1391 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2283 2074 2074 597 0 0 0 0 0 0 26.88 26.90 26.89 10.39 39.05

1423 1.57 391.0 2966 2283 2072 594 30.8 11.2 226 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2072 2072 596 0 0 0 0 0 0 26.91 26.92 26.92 10.39 39.52

1460 1.57 391.0 2966 2283 2071 593 26.3 11.6 232 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2282 2071 2071 595 0 0 0 0 0 0 26.93 26.94 26.94 10.39 39.09

1497 1.57 391.0 2966 2283 2070 592 22.1 12.3 238 1503 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2282 2070 2070 593 0 0 0 0 0 0 26.94 26.96 26.96 10.39 39.40

1534 1.57 391.0 2966 2283 2070 591 17.5 12.0 244 1540 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2282 2069 2069 593 0 0 0 0 0 0 26.96 26.98 26.98 10.39 38.73

1570 1.57 391.0 2966 2283 2068 590 13.1 11.9 250 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2068 2068 592 0 0 0 0 0 0 26.98 27.00 27.00 10.39 38.85

1607 1.57 391.0 2966 2283 2067 589 8.7 12.0 256 1613 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2067 2067 591 0 0 0 0 0 0 27.00 27.02 27.01 10.39 39.48

1644 1.58 393.8 2966 2283 2066 588 4.9 10.1 262 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2283 2066 2066 590 0 0 0 0 0 0 27.02 27.03 27.03 10.39 39.60

1675 end climb: SURFACE_DEPTH_REACHED

state 1675 begin surface coast

1694 end surface coast: CONTROL_FINISHED_OK

state 1694 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	31	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	19	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	14	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	400	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	030517,133355,4743.2676,-12224.4180,12,0.9,34,16.3,0.0,0.0,10,7.5	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.201611,-0.291431
_SM_DEPTHo	1.21	KALMAN_X	-3260.601318,97.794678,208.354752,3425.382812,220.412140
_SM_ANGLEo	-50.3	KALMAN_Y	-89.719757,-1365.290771,484.411072,1788.148926,79.523438
GPS2	030517,133823,4743.2822,-12224.3799,5,0.7,10,16.3,0.0,0.0,12,8.0	MHEAD_RNG_PITCHd_Wd	185.0,1540,-12.6,-10.101,-15.91,5808
SPEED_LIMITS	0.101,0.354	D_GRID	176

FINISH	0.2,1.021071	_10V_AH	10.55,2.350
SM_CCo	1786,0.00,0.000,0,0,2064,413.10	FG_AHR_24Vo	0.000
SM_GC	1.33,26.40,0.00,0.00,0.097,0.000,0.000,369,2283,2064,-6.61,0.23,413.10,0,0,0,0,0,0,26.77,27.03,26.82	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,030517,133452	MEM	323536
TT8_MAMPS	0.02247,0.110103	DATA_FILE_SIZE	10546,270
HUMID	38.89	CAP_FILE_SIZE	52526,0
INTERNAL_PRESSURE	10.3324	CFSIZE	1024409600,1018822656
TCM_TEMP	9.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,0,0,1,0
XPDR_PINGS	18	CURRENT	0.075,203.27,1
ALTIM_TOP_PING	19.7,19.7	GPS	030517,140952,4742.901,-12224.534,4,0.8,7,16.3,0.0,0.0,10,9.4
_24V_AH	24.08,4.550

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	59	630	908.55	SBE_CT	178	24	103.42
Roll_motor	12	201	61.39	nil	0	0	0.00
VBD_pump_during_apogee	47	5152	5939.64	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	32	103	81.80	nil	0	0	0.00
Iridium_during_connect	26	160	102.44	nil	0	0	0.00
Iridium_during_xfer	136	223	731.58	nil	0	0	0.00
Transponder_ping	5	420	53.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	6.23
TT8	705	19	147.39
LPSleep	465	2	10.76
TT8_Active	259	19	54.20
TT8_Sampling	618	39	259.73
TT8_CF8	30	45	14.60
TT8_Kalman	33	81	28.89
Analog_circuits	549	12	69.60
GPS_charging	0	0	0.00
Compass	399	5	21.05
RAFOS	0	0	0.00
Transponder	9	30	2.87

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	-1.57	-391.0	354	2286	2135	763	0.0	0.0	0	26	0.00	0.00	-7.65	0.000	16390	0.000	0.000	354	2287	3018	3018	784	0	0	0	0	0	0	26.77	25.52	26.80	10.41	39.60
28	-1.57	-391.0	354	2286	3017	784	1.2	0.0	1	60	20.55	3.25	0.00	0.000	2564	0.472	0.169	1976	1078	3020	3020	838	0	0	0	0	0	0	26.32	26.37	26.46	10.62	40.15
144	-1.57	-391.0	1975	1078	3023	674	25.0	-14.6	20	151	0.00	3.10	0.00	0.000	1030	0.000	0.137	1976	2276	3023	3023	697	0	0	0	0	0	0	26.59	26.48	26.62	10.62	38.97
183	-1.57	-391.0	1975	2276	3023	684	30.2	-12.9	26	188	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2276	3024	3024	703	0	0	0	0	0	0	26.84	26.85	26.85	10.62	39.28
219	-1.57	-391.0	1975	2276	3024	678	34.8	-12.4	32	225	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2277	3025	3025	698	0	0	0	0	0	0	26.86	26.88	26.87	10.62	39.48
256	-1.57	-391.0	1976	2276	3025	683	39.3	-12.1	38	262	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2276	3025	3025	702	0	0	0	0	0	0	26.89	26.90	26.90	10.61	39.52
292	-1.57	-391.0	1975	2276	3026	676	43.9	-11.9	44	298	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2277	3027	3027	697	0	0	0	0	0	0	26.91	26.92	26.92	10.62	38.81
329	-1.57	-391.0	1975	2276	3027	683	48.1	-12.2	50	335	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2276	3027	3027	702	0	0	0	0	0	0	26.93	26.94	26.94	10.61	39.09
367	-1.57	-391.0	1975	2277	3028	677	52.4	-12.1	56	373	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2277	3028	3028	697	0	0	0	0	0	0	26.95	26.96	26.96	10.62	38.62
403	-1.57	-391.0	1975	2276	3029	683	57.1	-12.3	62	409	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2276	3029	3029	703	0	0	0	0	0	0	26.97	26.98	26.98	10.62	39.28
440	-1.57	-391.0	1975	2276	3029	677	61.9	-12.8	68	446	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2277	3030	3030	697	0	0	0	0	0	0	26.98	27.00	27.00	10.62	39.44
477	-1.57	-391.0	1975	2276	3030	683	66.7	-13.0	74	483	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2277	3030	3030	703	0	0	0	0	0	0	27.00	27.01	27.01	10.61	39.25
513	-1.57	-391.0	1975	2277	3031	678	71.3	-12.1	80	520	0.00	3.22	0.00	0.000	516	0.000	0.201	1976	1077	3032	3032	702	0	0	0	0	0	0	27.02	26.65	27.03	10.62	39.25
575	-1.57	-391.0	1975	1077	3033	679	79.5	-13.3	90	582	0.00	3.10	0.00	0.000	1030	0.000	0.139	1976	2281	3033	3033	702	0	0	0	0	0	0	26.82	26.71	26.84	10.62	39.13
612	-1.57	-391.0	1975	2282	3034	677	84.1	-11.9	96	618	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2282	3034	3034	697	0	0	0	0	0	0	27.05	27.06	27.06	10.62	39.21
649	-1.57	-391.0	1975	2282	3034	730	88.1	-10.8	102	655	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2282	3035	3035	743	0	0	0	0	0	0	27.06	27.08	27.08	10.62	39.21
686	-1.57	-391.0	1975	2282	3035	688	91.9	-10.7	108	691	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2282	3035	3035	706	0	0	0	0	0	0	27.07	27.09	27.08	10.62	39.32
722	-1.57	-391.0	1976	2282	3036	690	95.8	-10.9	114	728	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2282	3036	3036	708	0	0	0	0	0	0	27.08	27.10	27.10	10.62	39.99
762	end dive: TARGET_DEPTH_EXCEEDED
state	762	begin apogee
765	-0.39	0.0	1976	2282	3038	684	100.2	-12.2	120	797	4.07	0.00	24.30	5.152	10246	0.233	0.000	2355	2283	2549	2549	3672	0	0	0	0	0	0	26.76	25.80	24.63	10.62	39.95
798	end apogee: CONTROL_FINISHED_OK
state	798	begin climb
799	1.57	391.0	2355	2282	2549	882	102.6	0.0	125	837	8.80	0.00	23.58	5.053	10502	0.631	0.000	2967	2283	2088	2088	3497	2	0	0	0	0	0	25.56	25.19	24.08	10.51	39.60
868	1.57	391.0	2966	2283	2088	707	97.8	10.4	136	874	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2088	2088	696	0	0	0	0	0	0	25.97	25.98	25.98	10.41	39.01
904	1.57	391.0	2966	2283	2087	679	93.5	11.9	142	911	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2086	2086	668	0	0	0	0	0	0	26.16	26.17	26.17	10.40	39.21
941	1.57	391.0	2966	2283	2085	661	88.6	13.3	148	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2086	2086	654	0	0	0	0	0	0	26.29	26.31	26.30	10.40	39.17
978	1.57	391.0	2966	2283	2084	648	83.8	13.6	154	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2084	2084	642	0	0	0	0	0	0	26.39	26.41	26.40	10.40	38.65
1015	1.57	391.0	2966	2282	2083	638	79.2	12.1	160	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2282	2084	2084	634	0	0	0	0	0	0	26.48	26.48	26.48	10.41	39.01
1052	1.57	391.0	2966	2283	2082	630	75.1	10.8	166	1059	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2283	2082	2082	626	0	0	0	0	0	0	26.54	26.55	26.55	10.40	38.97
1091	1.57	391.0	2966	2283	2081	623	70.9	11.8	172	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2081	2081	621	0	0	0	0	0	0	26.60	26.62	26.62	10.40	38.62
1127	1.57	391.0	2966	2283	2081	618	66.5	11.7	178	1134	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2081	2081	616	0	0	0	0	0	0	26.65	26.67	26.67	10.40	39.56
1164	1.57	391.0	2966	2283	2080	613	61.9	12.5	184	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2080	2080	612	0	0	0	0	0	0	26.70	26.72	26.71	10.40	39.36
1201	1.57	391.0	2966	2283	2079	609	57.3	12.4	190	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2079	2079	609	0	0	0	0	0	0	26.74	26.75	26.74	10.40	39.21
1238	1.57	391.0	2966	2283	2078	606	52.9	11.7	196	1244	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2077	2077	606	0	0	0	0	0	0	26.77	26.77	26.79	10.40	39.72
1274	1.57	391.0	2966	2283	2077	603	48.4	12.6	202	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2077	2077	603	0	0	0	0	0	0	26.80	26.82	26.82	10.40	38.73
1312	1.57	391.0	2966	2283	2076	600	44.0	12.0	208	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2076	2076	600	0	0	0	0	0	0	26.84	26.85	26.84	10.40	39.05
1348	1.57	391.0	2966	2283	2075	598	39.5	12.5	214	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2075	2075	599	0	0	0	0	0	0	26.86	26.88	26.87	10.40	39.36
1385	1.57	391.0	2966	2283	2073	596	34.9	11.6	220	1391	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2283	2074	2074	597	0	0	0	0	0	0	26.88	26.90	26.89	10.39	39.05
1423	1.57	391.0	2966	2283	2072	594	30.8	11.2	226	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2072	2072	596	0	0	0	0	0	0	26.91	26.92	26.92	10.39	39.52
1460	1.57	391.0	2966	2283	2071	593	26.3	11.6	232	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2282	2071	2071	595	0	0	0	0	0	0	26.93	26.94	26.94	10.39	39.09
1497	1.57	391.0	2966	2283	2070	592	22.1	12.3	238	1503	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2282	2070	2070	593	0	0	0	0	0	0	26.94	26.96	26.96	10.39	39.40
1534	1.57	391.0	2966	2283	2070	591	17.5	12.0	244	1540	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2282	2069	2069	593	0	0	0	0	0	0	26.96	26.98	26.98	10.39	38.73
1570	1.57	391.0	2966	2283	2068	590	13.1	11.9	250	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2068	2068	592	0	0	0	0	0	0	26.98	27.00	27.00	10.39	38.85
1607	1.57	391.0	2966	2283	2067	589	8.7	12.0	256	1613	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2067	2067	591	0	0	0	0	0	0	27.00	27.02	27.01	10.39	39.48
1644	1.58	393.8	2966	2283	2066	588	4.9	10.1	262	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2283	2066	2066	590	0	0	0	0	0	0	27.02	27.03	27.03	10.39	39.60
1675	end climb: SURFACE_DEPTH_REACHED
state	1675	begin surface coast
1694	end surface coast: CONTROL_FINISHED_OK
state	1694	begin surface