Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 8 * 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 8 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 13 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 66 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 2460 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 2460 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 13 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 66 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 8 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 230518,020610,4742.6304,-12224.8965,4,0.9,14,16.3,0.0,0.0,9,4.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.000665,0.328843

_SM_DEPTHo 1.37 KALMAN_X 150.610626,0.709171,61.701618,-113.320023,88.914047

_SM_ANGLEo -54.6 KALMAN_Y -551.957764,-100.973717,-14.944946,232.323685,-119.377441

GPS2 230518,022235,4742.4736,-12225.0312,7,0.8,14,16.3,0.4,223.1,10,4.9 MHEAD_RNG_PITCHd_Wd 343.6,2842,-13.3,-10.000,-16.91,4474

SPEED_LIMITS 0.143,0.329 D_GRID 178

Post-dive calculations and measurements:

SM_CCo 3255,3.05,0.298,0,0,2077,350.89 _24V_AH 23.61,4.906

SM_GC 3.10,28.62,2.50,3.05,0.024,0.044,0.298,231,1738,2077,-7.56,0.05,350.89,0,0,0,0,0,0,26.21,26.44,25.75 _10V_AH 10.18,5.934

IRIDIUM_FIX 4808.40,-12337.82,230518,005753 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.829143 FG_AHR_10Vo 0.000

HUMID 51.02 MEM 313004

INTERNAL_PRESSURE 10.3458 DATA_FILE_SIZE 10484,310

TCM_TEMP 10.20 CAP_FILE_SIZE 141850,0

XPDR_PINGS 0 CFSIZE 1023623168,1020182528

ALTIM_TOP_PING 13.6,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 123.1,123.3 GPS 230518,031858,4742.592,-12225.320,5,0.9,17,16.3,0.5,182.9,9,4.8

SC_FREEKB 3905312

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 61 118 170.98 nil 0 0 0.00

Roll_motor 40 87 82.41 nil 0 0 0.00

VBD_pump_during_apogee 34 2091 1694.99 nil 0 0 0.00

VBD_pump_during_surface 3 298 21.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.49 nil 0 0 0.00

Iridium_during_connect 18 160 69.69 SciCon 3254 70 5381.42

Iridium_during_xfer 791 223 4166.80 nil 0 0 0.00

Transponder_ping 190 420 1886.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.97

TT8 337 19 68.08

LPSleep 1216 2 27.12

TT8_Active 135 19 27.38

TT8_Sampling 2494 39 1010.60

TT8_CF8 81 45 37.86

TT8_Kalman 33 81 27.85

Analog_circuits 620 12 75.80

GPS_charging 0 0 0.00

Compass 455 5 23.17

RAFOS 0 0 0.00

Transponder 1887 30 576.33

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

10 -1.27 -293.3 243 1767 2036 2046 0.0 0.0 0 17 0.00 0.00 -5.85 0.000 16390 0.000 0.000 243 1767 2780 2780 2046 0 0 0 0 0 0 26.39 25.15 26.41 10.42 49.96

19 -1.27 -293.3 243 1766 2787 2046 0.0 0.0 0 47 24.08 0.00 0.00 0.000 2566 0.119 0.000 2232 1765 2783 2783 2045 0 0 0 0 0 0 26.01 26.12 26.08 10.59 50.94

108 -1.27 -293.3 2232 1759 2784 2045 14.9 -8.3 10 109 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1765 2784 2784 2046 0 0 0 0 0 0 26.45 26.48 26.48 10.57 49.80

168 -1.27 -293.3 2232 1765 2785 2046 19.8 -8.3 16 173 0.00 2.75 0.00 0.000 516 0.000 0.083 2232 761 2785 2785 2046 0 0 0 0 0 0 26.53 26.14 26.53 10.57 50.27

233 -1.27 -293.3 2229 761 2785 2046 26.1 -10.1 27 239 0.00 2.35 0.00 0.000 1030 0.000 0.035 2240 1734 2788 2788 2046 0 0 0 0 0 0 26.41 26.39 26.45 10.57 49.76

300 -1.27 -293.3 2231 1739 2788 2046 31.7 -8.3 34 301 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 1739 2788 2788 2054 0 0 0 0 0 0 26.65 26.66 26.65 10.56 49.88

360 -1.27 -293.3 2233 1739 2788 2054 36.6 -8.1 40 361 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1736 2784 2784 2046 0 0 0 0 0 0 26.68 26.70 26.70 10.56 49.84

420 -1.27 -293.3 2232 1739 2790 2046 41.5 -8.2 46 421 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1739 2796 2796 2046 0 0 0 0 0 0 26.72 26.74 26.73 10.56 50.39

480 -1.27 -293.3 2232 1739 2791 2046 46.4 -8.0 52 481 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 1738 2790 2790 2056 0 0 0 0 0 0 26.77 26.77 26.77 10.54 50.98

540 -1.27 -293.3 2232 1739 2792 2056 51.4 -8.6 58 541 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1739 2792 2792 2046 0 0 0 0 0 0 26.77 26.79 26.79 10.55 51.02

600 -1.27 -293.3 2232 1739 2793 2046 56.4 -8.1 64 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1736 2804 2804 2044 0 0 0 0 0 0 26.80 26.82 26.82 10.55 50.90

660 -1.27 -293.3 2236 1739 2794 2044 60.8 -7.2 70 661 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1739 2794 2794 2042 0 0 0 0 0 0 26.83 26.84 26.84 10.52 50.86

720 -1.27 -293.3 2232 1740 2795 2042 65.2 -7.6 76 721 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 1739 2795 2795 2046 0 0 0 0 0 0 26.84 26.86 26.86 10.53 50.82

780 -1.27 -293.3 2232 1740 2795 2046 70.1 -8.1 82 781 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1740 2796 2796 2045 0 0 0 0 0 0 26.86 26.89 26.88 10.54 51.37

841 -1.27 -293.3 2227 1740 2796 2045 75.0 -8.3 88 846 0.00 2.60 0.00 0.000 516 0.000 0.085 2232 767 2797 2797 2046 0 0 0 0 0 0 26.91 26.53 26.90 10.53 51.22

919 -1.27 -293.3 2232 768 2802 2046 81.3 -9.7 98 935 0.00 2.30 0.00 0.000 1030 0.000 0.037 2232 1756 2796 2796 2047 0 0 0 0 0 0 26.71 26.70 26.72 10.54 51.57

1022 -1.27 -293.3 2231 1756 2803 2047 89.7 -7.9 105 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1756 2800 2800 2046 0 0 0 0 0 0 26.84 26.86 26.86 10.50 51.61

1124 -1.27 -293.3 2232 1756 2801 2046 97.5 -7.5 112 1139 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1756 2802 2802 2046 0 0 0 0 0 0 26.81 26.81 26.80 10.60 51.45

1226 -1.27 -293.3 2232 1756 2796 2046 105.6 -7.9 119 1242 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1756 2803 2803 2046 0 0 0 0 0 0 26.79 26.81 26.81 10.55 50.82

1328 -1.27 -293.3 2232 1756 2805 2046 113.3 -7.3 126 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 1756 2805 2805 2046 0 0 0 0 0 0 26.76 26.78 26.77 10.55 51.14

1443 -1.27 -293.3 2230 1756 2810 2046 120.9 -7.4 133 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1756 2807 2807 2046 0 0 0 0 0 0 26.72 26.72 26.73 10.60 50.66

1560 -1.27 -293.3 2232 1757 2802 2046 131.1 -8.1 140 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 1756 2809 2809 2046 0 0 0 0 0 0 26.67 26.69 26.69 10.53 50.70

1662 -1.27 -293.3 2232 1757 2814 2046 139.3 -8.0 147 1678 0.00 2.67 0.00 0.000 516 0.000 0.085 2233 779 2810 2810 2046 0 0 0 0 0 0 26.67 26.33 26.70 10.54 50.35

1722 -1.27 -293.3 2225 773 2816 2046 144.7 -8.8 151 1739 0.00 2.28 0.00 0.000 1030 0.000 0.038 2233 1741 2811 2811 2046 0 0 0 0 0 0 26.54 26.51 26.54 10.54 49.92

1796 end dive: TARGET_DEPTH_EXCEEDED

state 1796 begin apogee

1799 -0.31 0.0 2232 1741 2806 2046 150.9 -8.1 156 1825 3.17 0.00 17.58 2.092 10244 0.057 0.000 2539 1741 2466 2466 2045 0 0 0 0 0 0 26.40 25.52 24.12 10.63 50.07

1827 end apogee: CONTROL_FINISHED_OK

state 1827 begin climb

1828 1.27 293.3 2539 1741 2464 2045 152.6 0.0 160 1855 5.20 0.00 16.73 2.046 11270 0.034 0.000 3043 1741 2144 2144 2048 0 0 0 0 0 0 25.81 25.95 23.61 10.46 50.00

1916 1.27 293.3 3042 1741 2140 2048 144.1 12.0 171 1917 0.00 0.00 0.03 0.002 8198 0.000 0.000 3043 1741 2141 2141 2045 0 0 0 0 0 0 25.93 25.93 25.94 10.40 49.56

1975 1.27 293.3 3042 1741 2139 2045 136.5 12.4 177 1977 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1743 2141 2141 2046 0 0 0 0 0 0 26.15 26.14 26.17 10.38 49.68

2035 1.27 293.3 3042 1741 2138 2046 129.2 11.9 183 2041 0.00 2.75 0.00 0.000 516 0.000 0.086 3046 770 2137 2137 2045 0 0 0 0 0 0 26.27 25.91 26.29 10.36 50.31

2107 1.27 293.3 3042 770 2135 2045 119.4 13.9 195 2113 0.00 2.40 0.00 0.000 1030 0.000 0.037 3043 1762 2143 2143 2051 0 0 0 0 0 0 26.21 26.21 26.23 10.38 50.15

2173 1.27 293.3 3042 1767 2134 2051 111.3 12.0 202 2179 0.00 2.40 0.00 0.000 260 0.000 0.042 3042 2698 2134 2134 2039 0 0 0 0 0 0 26.48 26.17 26.49 10.38 50.70

2245 1.27 293.3 3041 2692 2132 2039 102.5 12.1 214 2251 0.00 2.45 0.00 0.000 1030 0.000 0.045 3035 1766 2132 2132 2037 0 0 0 0 0 0 26.28 26.22 26.32 10.38 51.06

2311 1.27 293.3 3042 1759 2130 2037 94.7 11.7 221 2317 0.00 2.78 0.00 0.000 516 0.000 0.086 3041 758 2131 2131 2046 0 0 0 0 0 0 26.60 26.22 26.62 10.38 51.73

2391 1.27 293.3 3042 757 2127 2046 84.9 12.7 234 2395 0.00 2.38 0.00 0.000 1030 0.000 0.037 3042 1759 2123 2123 2045 0 0 0 0 0 0 26.52 26.46 26.51 10.35 50.98

2455 1.27 293.3 3042 1765 2126 2045 77.5 10.7 241 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 1765 2126 2126 2046 0 0 0 0 0 0 26.70 26.71 26.71 10.38 51.41

2515 1.27 293.3 3043 1764 2125 2046 71.1 10.6 247 2517 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1765 2131 2131 2046 0 0 0 0 0 0 26.72 26.75 26.74 10.38 51.96

2575 1.27 293.3 3042 1764 2124 2046 64.7 10.6 253 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1765 2124 2124 2046 0 0 0 0 0 0 26.76 26.78 26.77 10.38 51.57

2650 1.27 293.3 3042 1765 2121 2046 57.6 11.4 259 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1765 2121 2121 2046 0 0 0 0 0 0 26.74 26.76 26.76 10.37 51.45

2751 1.27 293.3 3041 1765 2119 2046 46.7 10.6 266 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 1765 2122 2122 2046 0 0 0 0 0 0 26.74 26.76 26.76 10.37 51.65

2852 1.27 293.3 3042 1765 2117 2046 36.3 10.2 273 2868 0.00 2.75 0.00 0.000 516 0.000 0.087 3043 760 2120 2120 2046 0 0 0 0 0 0 26.72 26.36 26.73 10.37 51.53

2981 1.27 293.3 3042 760 2113 2046 22.6 11.0 282 2997 0.00 2.33 0.00 0.000 1030 0.000 0.036 3043 1758 2112 2112 2046 0 0 0 0 0 0 26.55 26.55 26.57 10.37 51.26

3084 1.27 293.3 3042 1758 2110 2046 12.1 10.1 289 3099 0.00 2.35 0.00 0.000 260 0.000 0.041 3043 2689 2110 2110 2046 0 0 0 0 0 0 26.67 26.41 26.67 10.42 51.37

3187 end climb: SURFACE_DEPTH_REACHED

state 3187 begin surface coast

3217 end surface coast: CONTROL_FINISHED_OK

state 3217 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	8	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	13	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	66	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	2460	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	230518,020610,4742.6304,-12224.8965,4,0.9,14,16.3,0.0,0.0,9,4.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.000665,0.328843
_SM_DEPTHo	1.37	KALMAN_X	150.610626,0.709171,61.701618,-113.320023,88.914047
_SM_ANGLEo	-54.6	KALMAN_Y	-551.957764,-100.973717,-14.944946,232.323685,-119.377441
GPS2	230518,022235,4742.4736,-12225.0312,7,0.8,14,16.3,0.4,223.1,10,4.9	MHEAD_RNG_PITCHd_Wd	343.6,2842,-13.3,-10.000,-16.91,4474
SPEED_LIMITS	0.143,0.329	D_GRID	178

SM_CCo	3255,3.05,0.298,0,0,2077,350.89	_24V_AH	23.61,4.906
SM_GC	3.10,28.62,2.50,3.05,0.024,0.044,0.298,231,1738,2077,-7.56,0.05,350.89,0,0,0,0,0,0,26.21,26.44,25.75	_10V_AH	10.18,5.934
IRIDIUM_FIX	4808.40,-12337.82,230518,005753	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.829143	FG_AHR_10Vo	0.000
HUMID	51.02	MEM	313004
INTERNAL_PRESSURE	10.3458	DATA_FILE_SIZE	10484,310
TCM_TEMP	10.20	CAP_FILE_SIZE	141850,0
XPDR_PINGS	0	CFSIZE	1023623168,1020182528
ALTIM_TOP_PING	13.6,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	123.1,123.3	GPS	230518,031858,4742.592,-12225.320,5,0.9,17,16.3,0.5,182.9,9,4.8
SC_FREEKB	3905312

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	61	118	170.98	nil	0	0	0.00
Roll_motor	40	87	82.41	nil	0	0	0.00
VBD_pump_during_apogee	34	2091	1694.99	nil	0	0	0.00
VBD_pump_during_surface	3	298	21.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.49	nil	0	0	0.00
Iridium_during_connect	18	160	69.69	SciCon	3254	70	5381.42
Iridium_during_xfer	791	223	4166.80	nil	0	0	0.00
Transponder_ping	190	420	1886.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.97
TT8	337	19	68.08
LPSleep	1216	2	27.12
TT8_Active	135	19	27.38
TT8_Sampling	2494	39	1010.60
TT8_CF8	81	45	37.86
TT8_Kalman	33	81	27.85
Analog_circuits	620	12	75.80
GPS_charging	0	0	0.00
Compass	455	5	23.17
RAFOS	0	0	0.00
Transponder	1887	30	576.33

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
10	-1.27	-293.3	243	1767	2036	2046	0.0	0.0	0	17	0.00	0.00	-5.85	0.000	16390	0.000	0.000	243	1767	2780	2780	2046	0	0	0	0	0	0	26.39	25.15	26.41	10.42	49.96
19	-1.27	-293.3	243	1766	2787	2046	0.0	0.0	0	47	24.08	0.00	0.00	0.000	2566	0.119	0.000	2232	1765	2783	2783	2045	0	0	0	0	0	0	26.01	26.12	26.08	10.59	50.94
108	-1.27	-293.3	2232	1759	2784	2045	14.9	-8.3	10	109	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1765	2784	2784	2046	0	0	0	0	0	0	26.45	26.48	26.48	10.57	49.80
168	-1.27	-293.3	2232	1765	2785	2046	19.8	-8.3	16	173	0.00	2.75	0.00	0.000	516	0.000	0.083	2232	761	2785	2785	2046	0	0	0	0	0	0	26.53	26.14	26.53	10.57	50.27
233	-1.27	-293.3	2229	761	2785	2046	26.1	-10.1	27	239	0.00	2.35	0.00	0.000	1030	0.000	0.035	2240	1734	2788	2788	2046	0	0	0	0	0	0	26.41	26.39	26.45	10.57	49.76
300	-1.27	-293.3	2231	1739	2788	2046	31.7	-8.3	34	301	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	1739	2788	2788	2054	0	0	0	0	0	0	26.65	26.66	26.65	10.56	49.88
360	-1.27	-293.3	2233	1739	2788	2054	36.6	-8.1	40	361	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1736	2784	2784	2046	0	0	0	0	0	0	26.68	26.70	26.70	10.56	49.84
420	-1.27	-293.3	2232	1739	2790	2046	41.5	-8.2	46	421	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1739	2796	2796	2046	0	0	0	0	0	0	26.72	26.74	26.73	10.56	50.39
480	-1.27	-293.3	2232	1739	2791	2046	46.4	-8.0	52	481	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	1738	2790	2790	2056	0	0	0	0	0	0	26.77	26.77	26.77	10.54	50.98
540	-1.27	-293.3	2232	1739	2792	2056	51.4	-8.6	58	541	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1739	2792	2792	2046	0	0	0	0	0	0	26.77	26.79	26.79	10.55	51.02
600	-1.27	-293.3	2232	1739	2793	2046	56.4	-8.1	64	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1736	2804	2804	2044	0	0	0	0	0	0	26.80	26.82	26.82	10.55	50.90
660	-1.27	-293.3	2236	1739	2794	2044	60.8	-7.2	70	661	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1739	2794	2794	2042	0	0	0	0	0	0	26.83	26.84	26.84	10.52	50.86
720	-1.27	-293.3	2232	1740	2795	2042	65.2	-7.6	76	721	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	1739	2795	2795	2046	0	0	0	0	0	0	26.84	26.86	26.86	10.53	50.82
780	-1.27	-293.3	2232	1740	2795	2046	70.1	-8.1	82	781	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1740	2796	2796	2045	0	0	0	0	0	0	26.86	26.89	26.88	10.54	51.37
841	-1.27	-293.3	2227	1740	2796	2045	75.0	-8.3	88	846	0.00	2.60	0.00	0.000	516	0.000	0.085	2232	767	2797	2797	2046	0	0	0	0	0	0	26.91	26.53	26.90	10.53	51.22
919	-1.27	-293.3	2232	768	2802	2046	81.3	-9.7	98	935	0.00	2.30	0.00	0.000	1030	0.000	0.037	2232	1756	2796	2796	2047	0	0	0	0	0	0	26.71	26.70	26.72	10.54	51.57
1022	-1.27	-293.3	2231	1756	2803	2047	89.7	-7.9	105	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1756	2800	2800	2046	0	0	0	0	0	0	26.84	26.86	26.86	10.50	51.61
1124	-1.27	-293.3	2232	1756	2801	2046	97.5	-7.5	112	1139	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1756	2802	2802	2046	0	0	0	0	0	0	26.81	26.81	26.80	10.60	51.45
1226	-1.27	-293.3	2232	1756	2796	2046	105.6	-7.9	119	1242	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1756	2803	2803	2046	0	0	0	0	0	0	26.79	26.81	26.81	10.55	50.82
1328	-1.27	-293.3	2232	1756	2805	2046	113.3	-7.3	126	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	1756	2805	2805	2046	0	0	0	0	0	0	26.76	26.78	26.77	10.55	51.14
1443	-1.27	-293.3	2230	1756	2810	2046	120.9	-7.4	133	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1756	2807	2807	2046	0	0	0	0	0	0	26.72	26.72	26.73	10.60	50.66
1560	-1.27	-293.3	2232	1757	2802	2046	131.1	-8.1	140	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	1756	2809	2809	2046	0	0	0	0	0	0	26.67	26.69	26.69	10.53	50.70
1662	-1.27	-293.3	2232	1757	2814	2046	139.3	-8.0	147	1678	0.00	2.67	0.00	0.000	516	0.000	0.085	2233	779	2810	2810	2046	0	0	0	0	0	0	26.67	26.33	26.70	10.54	50.35
1722	-1.27	-293.3	2225	773	2816	2046	144.7	-8.8	151	1739	0.00	2.28	0.00	0.000	1030	0.000	0.038	2233	1741	2811	2811	2046	0	0	0	0	0	0	26.54	26.51	26.54	10.54	49.92
1796	end dive: TARGET_DEPTH_EXCEEDED
state	1796	begin apogee
1799	-0.31	0.0	2232	1741	2806	2046	150.9	-8.1	156	1825	3.17	0.00	17.58	2.092	10244	0.057	0.000	2539	1741	2466	2466	2045	0	0	0	0	0	0	26.40	25.52	24.12	10.63	50.07
1827	end apogee: CONTROL_FINISHED_OK
state	1827	begin climb
1828	1.27	293.3	2539	1741	2464	2045	152.6	0.0	160	1855	5.20	0.00	16.73	2.046	11270	0.034	0.000	3043	1741	2144	2144	2048	0	0	0	0	0	0	25.81	25.95	23.61	10.46	50.00
1916	1.27	293.3	3042	1741	2140	2048	144.1	12.0	171	1917	0.00	0.00	0.03	0.002	8198	0.000	0.000	3043	1741	2141	2141	2045	0	0	0	0	0	0	25.93	25.93	25.94	10.40	49.56
1975	1.27	293.3	3042	1741	2139	2045	136.5	12.4	177	1977	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1743	2141	2141	2046	0	0	0	0	0	0	26.15	26.14	26.17	10.38	49.68
2035	1.27	293.3	3042	1741	2138	2046	129.2	11.9	183	2041	0.00	2.75	0.00	0.000	516	0.000	0.086	3046	770	2137	2137	2045	0	0	0	0	0	0	26.27	25.91	26.29	10.36	50.31
2107	1.27	293.3	3042	770	2135	2045	119.4	13.9	195	2113	0.00	2.40	0.00	0.000	1030	0.000	0.037	3043	1762	2143	2143	2051	0	0	0	0	0	0	26.21	26.21	26.23	10.38	50.15
2173	1.27	293.3	3042	1767	2134	2051	111.3	12.0	202	2179	0.00	2.40	0.00	0.000	260	0.000	0.042	3042	2698	2134	2134	2039	0	0	0	0	0	0	26.48	26.17	26.49	10.38	50.70
2245	1.27	293.3	3041	2692	2132	2039	102.5	12.1	214	2251	0.00	2.45	0.00	0.000	1030	0.000	0.045	3035	1766	2132	2132	2037	0	0	0	0	0	0	26.28	26.22	26.32	10.38	51.06
2311	1.27	293.3	3042	1759	2130	2037	94.7	11.7	221	2317	0.00	2.78	0.00	0.000	516	0.000	0.086	3041	758	2131	2131	2046	0	0	0	0	0	0	26.60	26.22	26.62	10.38	51.73
2391	1.27	293.3	3042	757	2127	2046	84.9	12.7	234	2395	0.00	2.38	0.00	0.000	1030	0.000	0.037	3042	1759	2123	2123	2045	0	0	0	0	0	0	26.52	26.46	26.51	10.35	50.98
2455	1.27	293.3	3042	1765	2126	2045	77.5	10.7	241	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	1765	2126	2126	2046	0	0	0	0	0	0	26.70	26.71	26.71	10.38	51.41
2515	1.27	293.3	3043	1764	2125	2046	71.1	10.6	247	2517	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1765	2131	2131	2046	0	0	0	0	0	0	26.72	26.75	26.74	10.38	51.96
2575	1.27	293.3	3042	1764	2124	2046	64.7	10.6	253	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1765	2124	2124	2046	0	0	0	0	0	0	26.76	26.78	26.77	10.38	51.57
2650	1.27	293.3	3042	1765	2121	2046	57.6	11.4	259	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1765	2121	2121	2046	0	0	0	0	0	0	26.74	26.76	26.76	10.37	51.45
2751	1.27	293.3	3041	1765	2119	2046	46.7	10.6	266	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	1765	2122	2122	2046	0	0	0	0	0	0	26.74	26.76	26.76	10.37	51.65
2852	1.27	293.3	3042	1765	2117	2046	36.3	10.2	273	2868	0.00	2.75	0.00	0.000	516	0.000	0.087	3043	760	2120	2120	2046	0	0	0	0	0	0	26.72	26.36	26.73	10.37	51.53
2981	1.27	293.3	3042	760	2113	2046	22.6	11.0	282	2997	0.00	2.33	0.00	0.000	1030	0.000	0.036	3043	1758	2112	2112	2046	0	0	0	0	0	0	26.55	26.55	26.57	10.37	51.26
3084	1.27	293.3	3042	1758	2110	2046	12.1	10.1	289	3099	0.00	2.35	0.00	0.000	260	0.000	0.041	3043	2689	2110	2110	2046	0	0	0	0	0	0	26.67	26.41	26.67	10.42	51.37
3187	end climb: SURFACE_DEPTH_REACHED
state	3187	begin surface coast
3217	end surface coast: CONTROL_FINISHED_OK
state	3217	begin surface