Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 7 * 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 7 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 68 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 16 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 16 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 68 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 7 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 230518,005558,4743.3311,-12224.6270,5,1.1,50,16.3,0.3,163.0,7,3.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.126984,-0.303337

_SM_DEPTHo 1.39 KALMAN_X 339.434387,7.386078,-50.518368,316.280884,229.193542

_SM_ANGLEo -57.4 KALMAN_Y -163.872131,-56.727119,-9.427207,1211.020264,3.325824

GPS2 230518,011051,4743.2427,-12224.6143,6,1.0,51,16.3,0.0,172.9,8,3.0 MHEAD_RNG_PITCHd_Wd 186.4,1395,-13.3,-10.000,-16.91,4474

SPEED_LIMITS 0.143,0.329 D_GRID 177

Post-dive calculations and measurements:

SM_CCo 3194,3.08,0.304,0,0,2037,350.89 _24V_AH 23.71,4.812

SM_GC 3.09,28.58,0.00,3.08,0.027,0.000,0.304,243,1768,2037,-7.52,0.87,350.89,0,0,0,0,0,0,26.44,26.81,25.74 _10V_AH 10.16,5.818

IRIDIUM_FIX 4807.77,-12056.72,220518,234607 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,0.860601 FG_AHR_10Vo 0.000

HUMID 51.22 MEM 312980

INTERNAL_PRESSURE 10.336 DATA_FILE_SIZE 10462,315

TCM_TEMP 10.30 CAP_FILE_SIZE 137947,0

XPDR_PINGS 0 CFSIZE 1023623168,1020346368

ALTIM_TOP_PING 14.1,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.2,68.7 GPS 230518,020610,4742.630,-12224.896,4,0.9,14,16.3,0.0,0.0,9,4.5

SC_FREEKB 3905984

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 61 120 173.92 nil 0 0 0.00

Roll_motor 54 218 282.46 nil 0 0 0.00

VBD_pump_during_apogee 34 2045 1656.32 nil 0 0 0.00

VBD_pump_during_surface 3 304 22.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.87 nil 0 0 0.00

Iridium_during_connect 18 160 71.55 SciCon 3183 70 5289.16

Iridium_during_xfer 682 223 3607.25 nil 0 0 0.00

Transponder_ping 180 420 1794.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 52 50 26.89

TT8 341 19 68.66

LPSleep 1209 2 26.92

TT8_Active 135 19 27.29

TT8_Sampling 2353 39 951.55

TT8_CF8 71 45 33.17

TT8_Kalman 33 81 27.78

Analog_circuits 613 12 74.85

GPS_charging 0 0 0.00

Compass 462 5 23.50

RAFOS 0 0 0.00

Transponder 1783 30 543.65

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

9 -1.27 -293.3 232 1746 1975 2045 0.0 0.0 0 19 0.00 0.00 -6.00 0.000 16390 0.000 0.000 228 1741 2742 2742 2046 0 0 0 0 0 0 26.47 25.18 26.48 10.41 51.02

21 -1.27 -293.3 236 1739 2741 2046 1.6 0.0 1 51 24.12 2.42 0.00 0.000 2308 0.120 0.044 2233 2682 2744 2744 2049 0 0 0 0 0 0 26.09 26.13 26.22 10.60 50.94

279 -1.27 -293.3 2228 2682 2747 2049 28.2 -6.7 44 284 0.00 2.42 0.00 0.000 1030 0.000 0.043 2232 1743 2747 2747 2046 0 0 0 0 0 0 26.46 26.34 26.44 10.55 50.55

345 -1.27 -293.3 2231 1743 2747 2046 32.9 -7.3 51 350 0.00 2.40 0.00 0.000 260 0.000 0.043 2233 2685 2754 2754 2045 0 0 0 0 0 0 26.72 26.38 26.77 10.56 50.51

447 -1.27 -293.3 2232 2685 2749 2045 40.3 -7.3 68 452 0.00 2.38 0.00 0.000 1030 0.000 0.042 2233 1760 2749 2749 2044 0 0 0 0 0 0 26.54 26.45 26.59 10.56 50.47

513 -1.27 -293.3 2232 1761 2751 2044 45.2 -7.5 75 518 0.00 2.67 0.00 0.000 516 0.000 0.084 2233 774 2750 2750 2045 0 0 0 0 0 0 26.83 26.40 26.82 10.55 50.82

573 -1.27 -293.3 2232 773 2752 2045 50.8 -9.8 85 578 0.00 2.33 0.00 0.000 1030 0.000 0.035 2240 1747 2752 2752 2046 0 0 0 0 0 0 26.64 26.63 26.66 10.55 50.74

639 -1.27 -293.3 2232 1762 2758 2046 56.0 -7.6 92 640 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1753 2754 2754 2046 0 0 0 0 0 0 26.91 26.86 26.88 10.54 50.90

699 -1.27 -293.3 2232 1748 2755 2046 60.6 -7.8 98 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1753 2758 2758 2045 0 0 0 0 0 0 26.86 26.89 26.88 10.54 51.69

759 -1.27 -293.3 2232 1753 2756 2045 65.2 -7.4 104 764 0.00 2.67 0.00 0.000 516 0.000 0.084 2232 778 2755 2755 2047 0 0 0 0 0 0 26.91 26.48 26.89 10.53 51.73

819 -1.27 -293.3 2232 778 2757 2047 70.2 -8.3 114 824 0.00 2.33 0.00 0.000 1030 0.000 0.035 2233 1754 2751 2751 2046 0 0 0 0 0 0 26.72 26.70 26.74 10.53 51.45

885 -1.27 -293.3 2232 1761 2758 2046 74.8 -6.9 121 886 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1761 2757 2757 2041 0 0 0 0 0 0 26.91 26.96 26.93 10.54 52.00

945 -1.27 -293.3 2232 1761 2759 2041 79.1 -7.0 127 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1762 2758 2758 2045 0 0 0 0 0 0 26.93 26.95 26.94 10.52 51.69

1032 -1.27 -293.3 2232 1766 2768 2045 84.2 -6.8 133 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 1761 2760 2760 2046 0 0 0 0 0 0 26.88 26.90 26.94 10.54 51.77

1134 -1.27 -293.3 2232 1756 2753 2046 91.2 -7.3 140 1149 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1761 2761 2761 2054 0 0 0 0 0 0 26.86 26.88 26.91 10.49 52.36

1235 -1.27 -293.3 2232 1761 2763 2054 98.3 -7.0 147 1250 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1761 2763 2763 2046 0 0 0 0 0 0 26.84 26.86 26.86 10.58 51.61

1337 -1.27 -293.3 2232 1757 2764 2046 105.9 -6.7 154 1352 0.00 2.70 0.00 0.000 516 0.000 0.086 2232 767 2764 2764 2047 0 0 0 0 0 0 26.79 26.44 26.83 10.54 51.45

1454 -1.27 -293.3 2232 766 2766 2047 115.4 -8.4 162 1469 0.00 2.33 0.00 0.000 1030 0.000 0.036 2233 1751 2766 2766 2046 0 0 0 0 0 0 26.60 26.55 26.63 10.53 51.65

1569 -1.27 -293.3 2232 1748 2775 2046 124.7 -8.1 169 1585 0.00 2.38 0.00 0.000 260 0.000 0.043 2233 2692 2768 2768 2046 0 0 0 0 0 0 26.77 26.45 26.74 10.54 51.29

1643 -1.27 -293.3 2232 2692 2772 2046 130.3 -7.7 174 1659 0.00 2.42 0.00 0.000 1030 0.000 0.044 2233 1741 2770 2770 2046 0 0 0 0 0 0 26.48 26.42 26.51 10.51 50.59

1745 -1.27 -293.3 2232 1731 2774 2046 137.5 -7.0 181 1761 0.00 2.65 0.00 0.000 516 0.000 0.086 2233 759 2771 2771 2046 0 0 0 0 0 0 26.70 26.32 26.72 10.51 50.94

1818 end dive: HALF_MISSION_TIME_EXCEEDED

state 1818 begin apogee

1824 -0.31 0.0 2225 1762 2772 2046 144.3 -9.3 186 1848 3.08 0.03 17.70 2.046 10244 0.061 0.219 2533 1743 2421 2421 2046 0 0 0 0 0 0 26.45 25.55 24.19 10.53 50.86

1850 end apogee: CONTROL_FINISHED_OK

state 1850 begin climb

1852 1.27 293.3 2533 1743 2419 2046 146.4 0.0 190 1877 5.30 0.00 16.45 1.984 11270 0.039 0.000 3040 1743 2105 2105 2054 0 0 0 0 0 0 25.82 25.98 23.71 10.45 50.39

1937 1.27 293.3 3040 1743 2099 2054 138.4 11.6 201 1938 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1743 2099 2099 2049 0 0 0 0 0 0 25.95 25.99 25.96 10.41 50.23

1997 1.27 293.3 3040 1742 2098 2049 130.9 12.6 207 1998 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1743 2098 2098 2046 0 0 0 0 0 0 26.17 26.22 26.15 10.42 50.47

2057 1.27 293.3 3040 1743 2096 2046 123.8 11.7 213 2062 0.00 2.72 0.00 0.000 516 0.000 0.087 3042 773 2095 2095 2046 0 0 0 0 0 0 26.30 25.94 26.32 10.39 50.39

2093 1.27 293.3 3040 774 2098 2046 119.3 13.0 219 2099 0.00 2.35 0.00 0.000 1030 0.000 0.036 3041 1746 2096 2096 2045 0 0 0 0 0 0 26.20 26.18 26.21 10.38 50.43

2159 1.27 293.3 3041 1752 2093 2045 111.2 12.2 226 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1749 2094 2094 2045 0 0 0 0 0 0 26.46 26.48 26.48 10.38 50.74

2219 1.27 293.3 3041 1752 2098 2045 103.4 12.9 232 2220 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1752 2082 2082 2045 0 0 0 0 0 0 26.53 26.55 26.54 10.38 51.65

2279 1.27 293.3 3040 1753 2090 2045 96.3 11.5 238 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1753 2091 2091 2046 0 0 0 0 0 0 26.59 26.60 26.60 10.38 51.57

2339 1.27 293.3 3040 1752 2089 2046 89.4 11.4 244 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1753 2089 2089 2046 0 0 0 0 0 0 26.64 26.65 26.65 10.38 51.69

2399 1.27 293.3 3040 1753 2081 2046 82.8 11.4 250 2400 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 1753 2084 2084 2046 0 0 0 0 0 0 26.68 26.70 26.70 10.38 52.00

2459 1.27 293.3 3038 1753 2086 2046 75.1 12.8 256 2460 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1753 2087 2087 2045 0 0 0 0 0 0 26.72 26.73 26.73 10.38 51.57

2519 1.27 293.3 3040 1752 2084 2045 67.6 12.3 262 2521 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1754 2084 2084 2045 0 0 0 0 0 0 26.75 26.77 26.79 10.38 52.71

2579 1.27 293.3 3040 1753 2082 2045 60.3 12.3 268 2595 0.00 2.72 0.00 0.000 516 0.000 0.087 3041 769 2082 2082 2046 0 0 0 0 0 0 26.78 26.39 26.79 10.38 51.96

2611 1.27 293.3 3040 769 2082 2046 57.9 11.9 270 2627 0.00 2.33 0.00 0.000 1030 0.000 0.037 3041 1770 2081 2081 2046 0 0 0 0 0 0 26.59 26.58 26.61 10.38 51.77

2714 1.27 293.3 3040 1768 2080 2046 46.6 11.2 277 2729 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1774 2079 2079 2046 0 0 0 0 0 0 26.74 26.76 26.75 10.34 51.73

2814 1.27 293.3 3040 1771 2076 2046 35.4 11.3 284 2830 0.00 2.72 0.00 0.000 516 0.000 0.086 3041 771 2076 2076 2046 0 0 0 0 0 0 26.72 26.39 26.74 10.41 51.92

2874 1.27 293.3 3040 772 2074 2046 28.5 11.8 288 2889 0.00 2.28 0.00 0.000 1030 0.000 0.037 3041 1746 2073 2073 2046 0 0 0 0 0 0 26.60 26.55 26.57 10.36 51.65

2975 1.27 293.3 3041 1747 2071 2046 17.3 10.7 295 2990 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1747 2071 2071 2046 0 0 0 0 0 0 26.71 26.72 26.73 10.43 52.00

3057 1.27 293.3 3040 1746 2069 2046 7.5 10.4 302 3062 0.00 2.40 0.00 0.000 260 0.000 0.041 3041 2682 2073 2073 2046 0 0 0 0 0 0 26.74 26.44 26.74 10.31 51.18

3093 1.30 311.3 3040 2683 2068 2046 3.9 9.6 308 3098 0.00 2.38 0.00 0.000 1030 0.000 0.045 3039 1768 2068 2068 2046 0 0 0 0 0 0 26.50 26.44 26.52 10.38 51.96

3128 end climb: SURFACE_DEPTH_REACHED

state 3128 begin surface coast

3158 end surface coast: CONTROL_FINISHED_OK

state 3158 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	7	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	68	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	16	PRESSURE_YINT	-50.894402	SEABIRD_C_I	-0.0032838252
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	73949	PITCH_AD_RATE	70	AD7714Ch0Gain	1	SEABIRD_C_Z	2991.02
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	230518,005558,4743.3311,-12224.6270,5,1.1,50,16.3,0.3,163.0,7,3.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.126984,-0.303337
_SM_DEPTHo	1.39	KALMAN_X	339.434387,7.386078,-50.518368,316.280884,229.193542
_SM_ANGLEo	-57.4	KALMAN_Y	-163.872131,-56.727119,-9.427207,1211.020264,3.325824
GPS2	230518,011051,4743.2427,-12224.6143,6,1.0,51,16.3,0.0,172.9,8,3.0	MHEAD_RNG_PITCHd_Wd	186.4,1395,-13.3,-10.000,-16.91,4474
SPEED_LIMITS	0.143,0.329	D_GRID	177

SM_CCo	3194,3.08,0.304,0,0,2037,350.89	_24V_AH	23.71,4.812
SM_GC	3.09,28.58,0.00,3.08,0.027,0.000,0.304,243,1768,2037,-7.52,0.87,350.89,0,0,0,0,0,0,26.44,26.81,25.74	_10V_AH	10.16,5.818
IRIDIUM_FIX	4807.77,-12056.72,220518,234607	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,0.860601	FG_AHR_10Vo	0.000
HUMID	51.22	MEM	312980
INTERNAL_PRESSURE	10.336	DATA_FILE_SIZE	10462,315
TCM_TEMP	10.30	CAP_FILE_SIZE	137947,0
XPDR_PINGS	0	CFSIZE	1023623168,1020346368
ALTIM_TOP_PING	14.1,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.2,68.7	GPS	230518,020610,4742.630,-12224.896,4,0.9,14,16.3,0.0,0.0,9,4.5
SC_FREEKB	3905984

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	61	120	173.92	nil	0	0	0.00
Roll_motor	54	218	282.46	nil	0	0	0.00
VBD_pump_during_apogee	34	2045	1656.32	nil	0	0	0.00
VBD_pump_during_surface	3	304	22.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.87	nil	0	0	0.00
Iridium_during_connect	18	160	71.55	SciCon	3183	70	5289.16
Iridium_during_xfer	682	223	3607.25	nil	0	0	0.00
Transponder_ping	180	420	1794.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	52	50	26.89
TT8	341	19	68.66
LPSleep	1209	2	26.92
TT8_Active	135	19	27.29
TT8_Sampling	2353	39	951.55
TT8_CF8	71	45	33.17
TT8_Kalman	33	81	27.78
Analog_circuits	613	12	74.85
GPS_charging	0	0	0.00
Compass	462	5	23.50
RAFOS	0	0	0.00
Transponder	1783	30	543.65

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
9	-1.27	-293.3	232	1746	1975	2045	0.0	0.0	0	19	0.00	0.00	-6.00	0.000	16390	0.000	0.000	228	1741	2742	2742	2046	0	0	0	0	0	0	26.47	25.18	26.48	10.41	51.02
21	-1.27	-293.3	236	1739	2741	2046	1.6	0.0	1	51	24.12	2.42	0.00	0.000	2308	0.120	0.044	2233	2682	2744	2744	2049	0	0	0	0	0	0	26.09	26.13	26.22	10.60	50.94
279	-1.27	-293.3	2228	2682	2747	2049	28.2	-6.7	44	284	0.00	2.42	0.00	0.000	1030	0.000	0.043	2232	1743	2747	2747	2046	0	0	0	0	0	0	26.46	26.34	26.44	10.55	50.55
345	-1.27	-293.3	2231	1743	2747	2046	32.9	-7.3	51	350	0.00	2.40	0.00	0.000	260	0.000	0.043	2233	2685	2754	2754	2045	0	0	0	0	0	0	26.72	26.38	26.77	10.56	50.51
447	-1.27	-293.3	2232	2685	2749	2045	40.3	-7.3	68	452	0.00	2.38	0.00	0.000	1030	0.000	0.042	2233	1760	2749	2749	2044	0	0	0	0	0	0	26.54	26.45	26.59	10.56	50.47
513	-1.27	-293.3	2232	1761	2751	2044	45.2	-7.5	75	518	0.00	2.67	0.00	0.000	516	0.000	0.084	2233	774	2750	2750	2045	0	0	0	0	0	0	26.83	26.40	26.82	10.55	50.82
573	-1.27	-293.3	2232	773	2752	2045	50.8	-9.8	85	578	0.00	2.33	0.00	0.000	1030	0.000	0.035	2240	1747	2752	2752	2046	0	0	0	0	0	0	26.64	26.63	26.66	10.55	50.74
639	-1.27	-293.3	2232	1762	2758	2046	56.0	-7.6	92	640	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1753	2754	2754	2046	0	0	0	0	0	0	26.91	26.86	26.88	10.54	50.90
699	-1.27	-293.3	2232	1748	2755	2046	60.6	-7.8	98	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1753	2758	2758	2045	0	0	0	0	0	0	26.86	26.89	26.88	10.54	51.69
759	-1.27	-293.3	2232	1753	2756	2045	65.2	-7.4	104	764	0.00	2.67	0.00	0.000	516	0.000	0.084	2232	778	2755	2755	2047	0	0	0	0	0	0	26.91	26.48	26.89	10.53	51.73
819	-1.27	-293.3	2232	778	2757	2047	70.2	-8.3	114	824	0.00	2.33	0.00	0.000	1030	0.000	0.035	2233	1754	2751	2751	2046	0	0	0	0	0	0	26.72	26.70	26.74	10.53	51.45
885	-1.27	-293.3	2232	1761	2758	2046	74.8	-6.9	121	886	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1761	2757	2757	2041	0	0	0	0	0	0	26.91	26.96	26.93	10.54	52.00
945	-1.27	-293.3	2232	1761	2759	2041	79.1	-7.0	127	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1762	2758	2758	2045	0	0	0	0	0	0	26.93	26.95	26.94	10.52	51.69
1032	-1.27	-293.3	2232	1766	2768	2045	84.2	-6.8	133	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	1761	2760	2760	2046	0	0	0	0	0	0	26.88	26.90	26.94	10.54	51.77
1134	-1.27	-293.3	2232	1756	2753	2046	91.2	-7.3	140	1149	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1761	2761	2761	2054	0	0	0	0	0	0	26.86	26.88	26.91	10.49	52.36
1235	-1.27	-293.3	2232	1761	2763	2054	98.3	-7.0	147	1250	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1761	2763	2763	2046	0	0	0	0	0	0	26.84	26.86	26.86	10.58	51.61
1337	-1.27	-293.3	2232	1757	2764	2046	105.9	-6.7	154	1352	0.00	2.70	0.00	0.000	516	0.000	0.086	2232	767	2764	2764	2047	0	0	0	0	0	0	26.79	26.44	26.83	10.54	51.45
1454	-1.27	-293.3	2232	766	2766	2047	115.4	-8.4	162	1469	0.00	2.33	0.00	0.000	1030	0.000	0.036	2233	1751	2766	2766	2046	0	0	0	0	0	0	26.60	26.55	26.63	10.53	51.65
1569	-1.27	-293.3	2232	1748	2775	2046	124.7	-8.1	169	1585	0.00	2.38	0.00	0.000	260	0.000	0.043	2233	2692	2768	2768	2046	0	0	0	0	0	0	26.77	26.45	26.74	10.54	51.29
1643	-1.27	-293.3	2232	2692	2772	2046	130.3	-7.7	174	1659	0.00	2.42	0.00	0.000	1030	0.000	0.044	2233	1741	2770	2770	2046	0	0	0	0	0	0	26.48	26.42	26.51	10.51	50.59
1745	-1.27	-293.3	2232	1731	2774	2046	137.5	-7.0	181	1761	0.00	2.65	0.00	0.000	516	0.000	0.086	2233	759	2771	2771	2046	0	0	0	0	0	0	26.70	26.32	26.72	10.51	50.94
1818	end dive: HALF_MISSION_TIME_EXCEEDED
state	1818	begin apogee
1824	-0.31	0.0	2225	1762	2772	2046	144.3	-9.3	186	1848	3.08	0.03	17.70	2.046	10244	0.061	0.219	2533	1743	2421	2421	2046	0	0	0	0	0	0	26.45	25.55	24.19	10.53	50.86
1850	end apogee: CONTROL_FINISHED_OK
state	1850	begin climb
1852	1.27	293.3	2533	1743	2419	2046	146.4	0.0	190	1877	5.30	0.00	16.45	1.984	11270	0.039	0.000	3040	1743	2105	2105	2054	0	0	0	0	0	0	25.82	25.98	23.71	10.45	50.39
1937	1.27	293.3	3040	1743	2099	2054	138.4	11.6	201	1938	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1743	2099	2099	2049	0	0	0	0	0	0	25.95	25.99	25.96	10.41	50.23
1997	1.27	293.3	3040	1742	2098	2049	130.9	12.6	207	1998	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1743	2098	2098	2046	0	0	0	0	0	0	26.17	26.22	26.15	10.42	50.47
2057	1.27	293.3	3040	1743	2096	2046	123.8	11.7	213	2062	0.00	2.72	0.00	0.000	516	0.000	0.087	3042	773	2095	2095	2046	0	0	0	0	0	0	26.30	25.94	26.32	10.39	50.39
2093	1.27	293.3	3040	774	2098	2046	119.3	13.0	219	2099	0.00	2.35	0.00	0.000	1030	0.000	0.036	3041	1746	2096	2096	2045	0	0	0	0	0	0	26.20	26.18	26.21	10.38	50.43
2159	1.27	293.3	3041	1752	2093	2045	111.2	12.2	226	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1749	2094	2094	2045	0	0	0	0	0	0	26.46	26.48	26.48	10.38	50.74
2219	1.27	293.3	3041	1752	2098	2045	103.4	12.9	232	2220	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1752	2082	2082	2045	0	0	0	0	0	0	26.53	26.55	26.54	10.38	51.65
2279	1.27	293.3	3040	1753	2090	2045	96.3	11.5	238	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1753	2091	2091	2046	0	0	0	0	0	0	26.59	26.60	26.60	10.38	51.57
2339	1.27	293.3	3040	1752	2089	2046	89.4	11.4	244	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1753	2089	2089	2046	0	0	0	0	0	0	26.64	26.65	26.65	10.38	51.69
2399	1.27	293.3	3040	1753	2081	2046	82.8	11.4	250	2400	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	1753	2084	2084	2046	0	0	0	0	0	0	26.68	26.70	26.70	10.38	52.00
2459	1.27	293.3	3038	1753	2086	2046	75.1	12.8	256	2460	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1753	2087	2087	2045	0	0	0	0	0	0	26.72	26.73	26.73	10.38	51.57
2519	1.27	293.3	3040	1752	2084	2045	67.6	12.3	262	2521	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1754	2084	2084	2045	0	0	0	0	0	0	26.75	26.77	26.79	10.38	52.71
2579	1.27	293.3	3040	1753	2082	2045	60.3	12.3	268	2595	0.00	2.72	0.00	0.000	516	0.000	0.087	3041	769	2082	2082	2046	0	0	0	0	0	0	26.78	26.39	26.79	10.38	51.96
2611	1.27	293.3	3040	769	2082	2046	57.9	11.9	270	2627	0.00	2.33	0.00	0.000	1030	0.000	0.037	3041	1770	2081	2081	2046	0	0	0	0	0	0	26.59	26.58	26.61	10.38	51.77
2714	1.27	293.3	3040	1768	2080	2046	46.6	11.2	277	2729	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1774	2079	2079	2046	0	0	0	0	0	0	26.74	26.76	26.75	10.34	51.73
2814	1.27	293.3	3040	1771	2076	2046	35.4	11.3	284	2830	0.00	2.72	0.00	0.000	516	0.000	0.086	3041	771	2076	2076	2046	0	0	0	0	0	0	26.72	26.39	26.74	10.41	51.92
2874	1.27	293.3	3040	772	2074	2046	28.5	11.8	288	2889	0.00	2.28	0.00	0.000	1030	0.000	0.037	3041	1746	2073	2073	2046	0	0	0	0	0	0	26.60	26.55	26.57	10.36	51.65
2975	1.27	293.3	3041	1747	2071	2046	17.3	10.7	295	2990	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1747	2071	2071	2046	0	0	0	0	0	0	26.71	26.72	26.73	10.43	52.00
3057	1.27	293.3	3040	1746	2069	2046	7.5	10.4	302	3062	0.00	2.40	0.00	0.000	260	0.000	0.041	3041	2682	2073	2073	2046	0	0	0	0	0	0	26.74	26.44	26.74	10.31	51.18
3093	1.30	311.3	3040	2683	2068	2046	3.9	9.6	308	3098	0.00	2.38	0.00	0.000	1030	0.000	0.045	3039	1768	2068	2068	2046	0	0	0	0	0	0	26.50	26.44	26.52	10.38	51.96
3128	end climb: SURFACE_DEPTH_REACHED
state	3128	begin surface coast
3158	end surface coast: CONTROL_FINISHED_OK
state	3158	begin surface