Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 1750 ALTIM_TOP_TURN_MARGIN 0

MISSION 28 HEADING -1 C_ROLL_CLIMB 1750 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_PING_DEPTH 120

N_DIVES 20 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 34 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 2420 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 10 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 2650 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 300 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 10 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 2650 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1750 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 1750 MASS 73949 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 2420 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 300 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 34 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 6 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 20 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 220518,234053,4743.7954,-12224.5898,5,0.9,16,16.3,0.0,0.0,9,4.7 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.110731,-0.309639

_SM_DEPTHo 1.36 KALMAN_X 214.468994,-14.165428,-145.676819,643.198181,209.919342

_SM_ANGLEo -55.9 KALMAN_Y -113.107605,-50.689110,-41.118847,2147.930420,23.006878

GPS2 220518,235911,4743.7622,-12224.5430,7,0.9,16,16.3,0.3,0.0,9,5.0 MHEAD_RNG_PITCHd_Wd 183.4,2360,-13.3,-10.000,-16.91,4474

SPEED_LIMITS 0.143,0.329 D_GRID 173

Post-dive calculations and measurements:

SM_CCo 3250,0.00,0.000,0,0,1976,409.99 _24V_AH 23.67,4.726

SM_GC 1.65,29.77,0.00,0.00,0.032,0.000,0.000,232,1743,1976,-7.56,-0.36,409.99,0,0,0,0,0,0,26.19,26.77,26.44 _10V_AH 10.16,5.705

IRIDIUM_FIX 4808.40,-12337.82,220518,223511 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,0.844872 FG_AHR_10Vo 0.000

HUMID 51.81 MEM 313004

INTERNAL_PRESSURE 10.336 DATA_FILE_SIZE 10492,312

TCM_TEMP 10.60 CAP_FILE_SIZE 142312,0

XPDR_PINGS 0 CFSIZE 1023623168,1020493824

ALTIM_TOP_PING 14.2,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 123.2,63.8 GPS 230518,005558,4743.331,-12224.627,5,1.1,50,16.3,0.3,163.0,7,3.0

SC_FREEKB 3906624

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 62 117 174.12 nil 0 0 0.00

Roll_motor 55 91 119.84 nil 0 0 0.00

VBD_pump_during_apogee 39 2099 1978.79 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 70 103 173.06 nil 0 0 0.00

Iridium_during_connect 63 160 240.62 SciCon 3191 70 5329.84

Iridium_during_xfer 726 223 3836.29 nil 0 0 0.00

Transponder_ping 190 420 1888.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.74

TT8 336 19 67.70

LPSleep 1304 2 29.02

TT8_Active 137 19 27.57

TT8_Sampling 2512 39 1016.10

TT8_CF8 78 45 36.63

TT8_Kalman 33 81 27.78

Analog_circuits 635 12 77.45

GPS_charging 0 0 0.00

Compass 458 5 23.27

RAFOS 0 0 0.00

Transponder 1877 30 572.30

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.33 -293.3 239 1756 1967 2045 0.0 0.0 0 19 0.00 0.00 -6.05 0.000 16390 0.000 0.000 231 1753 2744 2744 2042 0 0 0 0 0 0 26.46 25.11 26.46 10.39 52.12

21 -1.33 -293.3 237 1750 2744 2042 1.6 0.0 1 51 23.80 2.53 0.00 0.000 2308 0.117 0.044 2215 2714 2739 2739 2046 0 0 0 0 0 0 26.05 26.15 26.19 10.61 52.44

279 -1.33 -293.3 2216 2724 2748 2046 30.6 -8.6 44 284 0.00 2.50 0.00 0.000 1030 0.000 0.039 2212 1748 2750 2750 2044 0 0 0 0 0 0 26.43 26.36 26.46 10.57 51.02

346 -1.33 -293.3 2215 1740 2747 2044 36.1 -7.9 51 351 0.00 2.47 0.00 0.000 260 0.000 0.044 2216 2721 2751 2751 2046 0 0 0 0 0 0 26.74 26.41 26.78 10.57 51.49

501 -1.33 -293.3 2216 2726 2754 2046 49.1 -8.0 77 506 0.00 2.55 0.00 0.000 1030 0.000 0.044 2222 1733 2754 2754 2046 0 0 0 0 0 0 26.53 26.48 26.57 10.58 51.92

567 -1.33 -293.3 2215 1731 2755 2046 54.4 -7.9 84 572 0.00 2.62 0.00 0.000 516 0.000 0.086 2216 760 2755 2755 2046 0 0 0 0 0 0 26.85 26.44 26.91 10.50 51.49

632 -1.33 -293.3 2215 760 2756 2046 60.8 -10.2 95 638 0.00 2.40 0.00 0.000 1030 0.000 0.035 2211 1762 2756 2756 2046 0 0 0 0 0 0 26.67 26.70 26.72 10.51 51.37

699 -1.33 -293.3 2211 1762 2758 2046 66.6 -8.4 102 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 1770 2754 2754 2047 0 0 0 0 0 0 26.89 26.91 26.90 10.56 51.92

759 -1.33 -293.3 2215 1765 2759 2047 71.0 -7.2 108 764 0.00 2.75 0.00 0.000 516 0.000 0.084 2216 756 2758 2758 2046 0 0 0 0 0 0 26.91 26.49 26.91 10.56 51.89

807 -1.33 -293.3 2215 762 2761 2046 75.1 -8.9 116 812 0.00 2.30 0.00 0.000 1030 0.000 0.035 2210 1725 2760 2760 2046 0 0 0 0 0 0 26.72 26.68 26.74 10.60 51.96

884 -1.33 -293.3 2212 1729 2761 2046 80.0 -7.3 123 899 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 1728 2761 2761 2046 0 0 0 0 0 0 26.91 26.91 26.95 10.66 52.32

985 -1.33 -293.3 2215 1724 2761 2046 87.3 -7.3 130 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 1728 2762 2762 2046 0 0 0 0 0 0 26.86 26.89 26.89 10.54 52.40

1087 -1.33 -293.3 2215 1729 2767 2046 94.6 -7.1 137 1102 0.00 2.60 0.00 0.000 516 0.000 0.084 2216 767 2764 2764 2046 0 0 0 0 0 0 26.85 26.50 26.87 10.51 52.91

1174 -1.33 -293.3 2215 767 2766 2046 102.7 -10.1 143 1190 0.00 2.20 0.00 0.000 1030 0.000 0.037 2216 1707 2766 2766 2048 0 0 0 0 0 0 26.72 26.65 26.69 10.55 52.08

1277 -1.33 -293.3 2215 1708 2766 2048 111.4 -8.1 150 1292 0.00 2.47 0.00 0.000 260 0.000 0.044 2216 2692 2767 2767 2046 0 0 0 0 0 0 26.79 26.49 26.82 10.55 51.96

1393 -1.33 -293.3 2216 2694 2769 2046 119.7 -6.9 158 1423 0.00 2.50 0.00 0.000 1030 0.000 0.046 2216 1707 2769 2769 2046 0 0 0 0 0 0 26.51 26.45 26.56 10.55 51.89

1520 -1.33 -293.3 2215 1706 2776 2046 128.9 -6.9 165 1535 0.00 2.53 0.00 0.000 516 0.000 0.088 2216 774 2771 2771 2046 0 0 0 0 0 0 26.72 26.36 26.77 10.55 52.16

1622 -1.33 -293.3 2215 775 2773 2046 137.7 -9.1 172 1637 0.00 2.20 0.00 0.000 1030 0.000 0.036 2216 1721 2773 2773 2046 0 0 0 0 0 0 26.57 26.55 26.58 10.54 51.41

1724 -1.33 -293.3 2214 1720 2774 2046 145.9 -7.9 179 1740 0.00 2.45 0.00 0.000 260 0.000 0.044 2216 2689 2774 2774 2046 0 0 0 0 0 0 26.77 26.45 26.75 10.51 50.98

1783 end dive: TARGET_DEPTH_EXCEEDED

state 1783 begin apogee

1789 -0.33 0.0 2216 1744 2775 2046 150.5 -7.7 183 1813 3.30 0.00 17.45 2.099 10244 0.060 0.000 2537 1744 2427 2427 2056 0 0 0 0 0 0 26.46 25.22 24.15 10.54 51.06

1815 end apogee: CONTROL_FINISHED_OK

state 1815 begin climb

1816 1.33 293.3 2533 1743 2427 2056 152.4 0.0 187 1843 5.45 0.00 16.83 2.052 11270 0.039 0.000 3058 1740 2102 2102 2046 0 0 0 0 0 0 25.82 25.98 23.67 10.47 50.74

1903 1.33 293.3 3058 1744 2097 2046 144.3 11.9 198 1905 0.00 0.00 0.03 0.002 8198 0.000 0.000 3058 1745 2107 2107 2046 0 0 0 0 0 0 25.98 25.98 25.98 10.39 50.27

1963 1.33 293.3 3058 1741 2100 2046 136.7 12.4 204 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1741 2100 2100 2045 0 0 0 0 0 0 26.19 26.20 26.19 10.35 50.98

2023 1.33 293.3 3058 1744 2098 2045 129.6 12.0 210 2024 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1744 2098 2098 2044 0 0 0 0 0 0 26.34 26.35 26.34 10.43 51.14

2083 1.33 293.3 3058 1742 2097 2044 122.0 12.7 216 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1742 2097 2097 2046 0 0 0 0 0 0 26.44 26.46 26.45 10.39 52.04

2143 1.33 293.3 3058 1744 2095 2046 114.1 13.1 222 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1744 2096 2096 2046 0 0 0 0 0 0 26.52 26.53 26.56 10.39 51.49

2203 1.33 293.3 3056 1744 2094 2046 106.2 13.1 228 2205 0.00 0.00 0.03 0.005 8198 0.000 0.000 3059 1744 2090 2090 2046 0 0 0 0 0 0 26.61 26.60 26.59 10.37 51.69

2263 1.33 293.3 3058 1744 2092 2046 98.1 13.4 234 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1744 2091 2091 2040 0 0 0 0 0 0 26.64 26.65 26.65 10.38 51.73

2324 1.33 293.3 3058 1743 2090 2040 90.2 13.0 240 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1744 2095 2095 2046 0 0 0 0 0 0 26.68 26.67 26.70 10.38 52.04

2383 1.33 293.3 3058 1744 2089 2046 82.3 13.1 246 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1744 2088 2088 2042 0 0 0 0 0 0 26.72 26.74 26.74 10.38 51.96

2443 1.33 293.3 3058 1744 2087 2042 74.5 13.1 252 2448 0.00 2.72 0.00 0.000 516 0.000 0.089 3059 759 2076 2076 2046 0 0 0 0 0 0 26.75 26.36 26.77 10.38 52.40

2491 1.33 293.3 3058 759 2085 2046 67.9 13.8 260 2496 0.00 2.35 0.00 0.000 1030 0.000 0.037 3059 1739 2085 2085 2052 0 0 0 0 0 0 26.64 26.61 26.60 10.38 52.32

2568 1.33 293.3 3058 1745 2083 2052 59.6 12.2 267 2582 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1745 2083 2083 2046 0 0 0 0 0 0 26.77 26.79 26.79 10.38 53.11

2668 1.33 293.3 3058 1745 2080 2046 48.7 10.9 274 2684 0.00 2.67 0.00 0.000 516 0.000 0.087 3059 768 2080 2080 2046 0 0 0 0 0 0 26.76 26.41 26.74 10.38 52.55

2714 1.33 293.3 3058 768 2079 2046 43.2 11.6 277 2730 0.00 2.30 0.00 0.000 1030 0.000 0.036 3059 1764 2079 2079 2046 0 0 0 0 0 0 26.59 26.60 26.63 10.38 51.96

2816 1.33 293.3 3058 1764 2076 2046 32.3 10.4 284 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1764 2075 2075 2045 0 0 0 0 0 0 26.79 26.77 26.77 10.39 52.12

2916 1.33 293.3 3058 1764 2074 2045 21.9 10.3 291 2932 0.00 2.33 0.00 0.000 260 0.000 0.044 3059 2682 2073 2073 2046 0 0 0 0 0 0 26.73 26.46 26.77 10.33 52.44

2948 1.33 293.3 3058 2682 2073 2046 18.8 10.3 293 2963 0.00 2.40 0.00 0.000 1030 0.000 0.047 3065 1743 2072 2072 2046 0 0 0 0 0 0 26.50 26.44 26.53 10.35 51.61

3035 1.33 293.3 3058 1743 2073 2046 8.3 11.1 300 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1743 2074 2074 2054 0 0 0 0 0 0 26.75 26.80 26.77 10.38 52.40

3095 1.50 409.4 3058 1743 2069 2054 3.4 7.3 306 3105 0.52 0.00 5.50 0.556 10246 0.034 0.000 3116 1743 1977 1977 2045 0 0 0 0 0 0 26.57 26.15 25.65 10.35 51.33

3124 end climb: SURFACE_DEPTH_REACHED

state 3124 begin surface coast

3154 end surface coast: CONTROL_FINISHED_OK

state 3154 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	1750	ALTIM_TOP_TURN_MARGIN	0
MISSION	28	HEADING	-1	C_ROLL_CLIMB	1750	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_PING_DEPTH	120
N_DIVES	20	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	34	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	2420	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	10	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	2650	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	300	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	220518,234053,4743.7954,-12224.5898,5,0.9,16,16.3,0.0,0.0,9,4.7	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.110731,-0.309639
_SM_DEPTHo	1.36	KALMAN_X	214.468994,-14.165428,-145.676819,643.198181,209.919342
_SM_ANGLEo	-55.9	KALMAN_Y	-113.107605,-50.689110,-41.118847,2147.930420,23.006878
GPS2	220518,235911,4743.7622,-12224.5430,7,0.9,16,16.3,0.3,0.0,9,5.0	MHEAD_RNG_PITCHd_Wd	183.4,2360,-13.3,-10.000,-16.91,4474
SPEED_LIMITS	0.143,0.329	D_GRID	173

SM_CCo	3250,0.00,0.000,0,0,1976,409.99	_24V_AH	23.67,4.726
SM_GC	1.65,29.77,0.00,0.00,0.032,0.000,0.000,232,1743,1976,-7.56,-0.36,409.99,0,0,0,0,0,0,26.19,26.77,26.44	_10V_AH	10.16,5.705
IRIDIUM_FIX	4808.40,-12337.82,220518,223511	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,0.844872	FG_AHR_10Vo	0.000
HUMID	51.81	MEM	313004
INTERNAL_PRESSURE	10.336	DATA_FILE_SIZE	10492,312
TCM_TEMP	10.60	CAP_FILE_SIZE	142312,0
XPDR_PINGS	0	CFSIZE	1023623168,1020493824
ALTIM_TOP_PING	14.2,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	123.2,63.8	GPS	230518,005558,4743.331,-12224.627,5,1.1,50,16.3,0.3,163.0,7,3.0
SC_FREEKB	3906624

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	62	117	174.12	nil	0	0	0.00
Roll_motor	55	91	119.84	nil	0	0	0.00
VBD_pump_during_apogee	39	2099	1978.79	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	70	103	173.06	nil	0	0	0.00
Iridium_during_connect	63	160	240.62	SciCon	3191	70	5329.84
Iridium_during_xfer	726	223	3836.29	nil	0	0	0.00
Transponder_ping	190	420	1888.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.74
TT8	336	19	67.70
LPSleep	1304	2	29.02
TT8_Active	137	19	27.57
TT8_Sampling	2512	39	1016.10
TT8_CF8	78	45	36.63
TT8_Kalman	33	81	27.78
Analog_circuits	635	12	77.45
GPS_charging	0	0	0.00
Compass	458	5	23.27
RAFOS	0	0	0.00
Transponder	1877	30	572.30

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.33	-293.3	239	1756	1967	2045	0.0	0.0	0	19	0.00	0.00	-6.05	0.000	16390	0.000	0.000	231	1753	2744	2744	2042	0	0	0	0	0	0	26.46	25.11	26.46	10.39	52.12
21	-1.33	-293.3	237	1750	2744	2042	1.6	0.0	1	51	23.80	2.53	0.00	0.000	2308	0.117	0.044	2215	2714	2739	2739	2046	0	0	0	0	0	0	26.05	26.15	26.19	10.61	52.44
279	-1.33	-293.3	2216	2724	2748	2046	30.6	-8.6	44	284	0.00	2.50	0.00	0.000	1030	0.000	0.039	2212	1748	2750	2750	2044	0	0	0	0	0	0	26.43	26.36	26.46	10.57	51.02
346	-1.33	-293.3	2215	1740	2747	2044	36.1	-7.9	51	351	0.00	2.47	0.00	0.000	260	0.000	0.044	2216	2721	2751	2751	2046	0	0	0	0	0	0	26.74	26.41	26.78	10.57	51.49
501	-1.33	-293.3	2216	2726	2754	2046	49.1	-8.0	77	506	0.00	2.55	0.00	0.000	1030	0.000	0.044	2222	1733	2754	2754	2046	0	0	0	0	0	0	26.53	26.48	26.57	10.58	51.92
567	-1.33	-293.3	2215	1731	2755	2046	54.4	-7.9	84	572	0.00	2.62	0.00	0.000	516	0.000	0.086	2216	760	2755	2755	2046	0	0	0	0	0	0	26.85	26.44	26.91	10.50	51.49
632	-1.33	-293.3	2215	760	2756	2046	60.8	-10.2	95	638	0.00	2.40	0.00	0.000	1030	0.000	0.035	2211	1762	2756	2756	2046	0	0	0	0	0	0	26.67	26.70	26.72	10.51	51.37
699	-1.33	-293.3	2211	1762	2758	2046	66.6	-8.4	102	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	1770	2754	2754	2047	0	0	0	0	0	0	26.89	26.91	26.90	10.56	51.92
759	-1.33	-293.3	2215	1765	2759	2047	71.0	-7.2	108	764	0.00	2.75	0.00	0.000	516	0.000	0.084	2216	756	2758	2758	2046	0	0	0	0	0	0	26.91	26.49	26.91	10.56	51.89
807	-1.33	-293.3	2215	762	2761	2046	75.1	-8.9	116	812	0.00	2.30	0.00	0.000	1030	0.000	0.035	2210	1725	2760	2760	2046	0	0	0	0	0	0	26.72	26.68	26.74	10.60	51.96
884	-1.33	-293.3	2212	1729	2761	2046	80.0	-7.3	123	899	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	1728	2761	2761	2046	0	0	0	0	0	0	26.91	26.91	26.95	10.66	52.32
985	-1.33	-293.3	2215	1724	2761	2046	87.3	-7.3	130	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	1728	2762	2762	2046	0	0	0	0	0	0	26.86	26.89	26.89	10.54	52.40
1087	-1.33	-293.3	2215	1729	2767	2046	94.6	-7.1	137	1102	0.00	2.60	0.00	0.000	516	0.000	0.084	2216	767	2764	2764	2046	0	0	0	0	0	0	26.85	26.50	26.87	10.51	52.91
1174	-1.33	-293.3	2215	767	2766	2046	102.7	-10.1	143	1190	0.00	2.20	0.00	0.000	1030	0.000	0.037	2216	1707	2766	2766	2048	0	0	0	0	0	0	26.72	26.65	26.69	10.55	52.08
1277	-1.33	-293.3	2215	1708	2766	2048	111.4	-8.1	150	1292	0.00	2.47	0.00	0.000	260	0.000	0.044	2216	2692	2767	2767	2046	0	0	0	0	0	0	26.79	26.49	26.82	10.55	51.96
1393	-1.33	-293.3	2216	2694	2769	2046	119.7	-6.9	158	1423	0.00	2.50	0.00	0.000	1030	0.000	0.046	2216	1707	2769	2769	2046	0	0	0	0	0	0	26.51	26.45	26.56	10.55	51.89
1520	-1.33	-293.3	2215	1706	2776	2046	128.9	-6.9	165	1535	0.00	2.53	0.00	0.000	516	0.000	0.088	2216	774	2771	2771	2046	0	0	0	0	0	0	26.72	26.36	26.77	10.55	52.16
1622	-1.33	-293.3	2215	775	2773	2046	137.7	-9.1	172	1637	0.00	2.20	0.00	0.000	1030	0.000	0.036	2216	1721	2773	2773	2046	0	0	0	0	0	0	26.57	26.55	26.58	10.54	51.41
1724	-1.33	-293.3	2214	1720	2774	2046	145.9	-7.9	179	1740	0.00	2.45	0.00	0.000	260	0.000	0.044	2216	2689	2774	2774	2046	0	0	0	0	0	0	26.77	26.45	26.75	10.51	50.98
1783	end dive: TARGET_DEPTH_EXCEEDED
state	1783	begin apogee
1789	-0.33	0.0	2216	1744	2775	2046	150.5	-7.7	183	1813	3.30	0.00	17.45	2.099	10244	0.060	0.000	2537	1744	2427	2427	2056	0	0	0	0	0	0	26.46	25.22	24.15	10.54	51.06
1815	end apogee: CONTROL_FINISHED_OK
state	1815	begin climb
1816	1.33	293.3	2533	1743	2427	2056	152.4	0.0	187	1843	5.45	0.00	16.83	2.052	11270	0.039	0.000	3058	1740	2102	2102	2046	0	0	0	0	0	0	25.82	25.98	23.67	10.47	50.74
1903	1.33	293.3	3058	1744	2097	2046	144.3	11.9	198	1905	0.00	0.00	0.03	0.002	8198	0.000	0.000	3058	1745	2107	2107	2046	0	0	0	0	0	0	25.98	25.98	25.98	10.39	50.27
1963	1.33	293.3	3058	1741	2100	2046	136.7	12.4	204	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1741	2100	2100	2045	0	0	0	0	0	0	26.19	26.20	26.19	10.35	50.98
2023	1.33	293.3	3058	1744	2098	2045	129.6	12.0	210	2024	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1744	2098	2098	2044	0	0	0	0	0	0	26.34	26.35	26.34	10.43	51.14
2083	1.33	293.3	3058	1742	2097	2044	122.0	12.7	216	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1742	2097	2097	2046	0	0	0	0	0	0	26.44	26.46	26.45	10.39	52.04
2143	1.33	293.3	3058	1744	2095	2046	114.1	13.1	222	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1744	2096	2096	2046	0	0	0	0	0	0	26.52	26.53	26.56	10.39	51.49
2203	1.33	293.3	3056	1744	2094	2046	106.2	13.1	228	2205	0.00	0.00	0.03	0.005	8198	0.000	0.000	3059	1744	2090	2090	2046	0	0	0	0	0	0	26.61	26.60	26.59	10.37	51.69
2263	1.33	293.3	3058	1744	2092	2046	98.1	13.4	234	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1744	2091	2091	2040	0	0	0	0	0	0	26.64	26.65	26.65	10.38	51.73
2324	1.33	293.3	3058	1743	2090	2040	90.2	13.0	240	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1744	2095	2095	2046	0	0	0	0	0	0	26.68	26.67	26.70	10.38	52.04
2383	1.33	293.3	3058	1744	2089	2046	82.3	13.1	246	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1744	2088	2088	2042	0	0	0	0	0	0	26.72	26.74	26.74	10.38	51.96
2443	1.33	293.3	3058	1744	2087	2042	74.5	13.1	252	2448	0.00	2.72	0.00	0.000	516	0.000	0.089	3059	759	2076	2076	2046	0	0	0	0	0	0	26.75	26.36	26.77	10.38	52.40
2491	1.33	293.3	3058	759	2085	2046	67.9	13.8	260	2496	0.00	2.35	0.00	0.000	1030	0.000	0.037	3059	1739	2085	2085	2052	0	0	0	0	0	0	26.64	26.61	26.60	10.38	52.32
2568	1.33	293.3	3058	1745	2083	2052	59.6	12.2	267	2582	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1745	2083	2083	2046	0	0	0	0	0	0	26.77	26.79	26.79	10.38	53.11
2668	1.33	293.3	3058	1745	2080	2046	48.7	10.9	274	2684	0.00	2.67	0.00	0.000	516	0.000	0.087	3059	768	2080	2080	2046	0	0	0	0	0	0	26.76	26.41	26.74	10.38	52.55
2714	1.33	293.3	3058	768	2079	2046	43.2	11.6	277	2730	0.00	2.30	0.00	0.000	1030	0.000	0.036	3059	1764	2079	2079	2046	0	0	0	0	0	0	26.59	26.60	26.63	10.38	51.96
2816	1.33	293.3	3058	1764	2076	2046	32.3	10.4	284	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1764	2075	2075	2045	0	0	0	0	0	0	26.79	26.77	26.77	10.39	52.12
2916	1.33	293.3	3058	1764	2074	2045	21.9	10.3	291	2932	0.00	2.33	0.00	0.000	260	0.000	0.044	3059	2682	2073	2073	2046	0	0	0	0	0	0	26.73	26.46	26.77	10.33	52.44
2948	1.33	293.3	3058	2682	2073	2046	18.8	10.3	293	2963	0.00	2.40	0.00	0.000	1030	0.000	0.047	3065	1743	2072	2072	2046	0	0	0	0	0	0	26.50	26.44	26.53	10.35	51.61
3035	1.33	293.3	3058	1743	2073	2046	8.3	11.1	300	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1743	2074	2074	2054	0	0	0	0	0	0	26.75	26.80	26.77	10.38	52.40
3095	1.50	409.4	3058	1743	2069	2054	3.4	7.3	306	3105	0.52	0.00	5.50	0.556	10246	0.034	0.000	3116	1743	1977	1977	2045	0	0	0	0	0	0	26.57	26.15	25.65	10.35	51.33
3124	end climb: SURFACE_DEPTH_REACHED
state	3124	begin surface coast
3154	end surface coast: CONTROL_FINISHED_OK
state	3154	begin surface