Glider dive log

Shilshole 23May17 * SG402 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.0143 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 2.4999001e-05 ROLL_DEG 65 ALTIM_TOP_PING_RANGE 0

DIVE 15 HEADING -1 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 C_ROLL_CLIMB 2230 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 0

D_FLARE 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 13

D_ABORT 210 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 5

D_NO_BLEED 210 SM_CC 520 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 50 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 4045 DEEPGLIDER 2

D_CALL 0 N_NOCOMM 1 C_VBD 2627 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE3 -1

T_DIVE 40 CALL_TRIES 10 VBD_TIMEOUT 360 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0014 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 20 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 495 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3900 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2500 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 150 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

RHO 1.023 PITCH_GAIN 13 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

MASS 72302 PITCH_TIMEOUT 50 PRESSURE_YINT -48.895668 SEABIRD_C_H 1.1416712

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2915.98

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0060000001 ROLL_MIN 300 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 520

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 70 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 13 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3900 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 495 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0014 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0060000001 PITCH_W_GAIN 20 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0143 PRESSURE_SLOPE 3.3081022e-05 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999001e-05 PRESSURE_YINT -48.895668 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 40

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 402 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 4

C_PITCH 2500 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 2230 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2627 MASS 72302 ROLL_CNV 0.04555 USE_BATHY -6

DBDW 0 MASS_COMP 0 ROLL_DEG 65 USE_ICE 0

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_CNV -0.85860002

DEVICE2 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 19 VBD_MAX 4045

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.6809101 VBD_MIN 50

DIVE 15 NAV_MODE 1 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 30 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2915.98 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 20 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FLARE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.9009848e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 240517,072824,4743.5723,-12224.9287,4,0.9,4,16.3,0.0,0.0,9,29.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.010558,0.243795

_SM_DEPTHo 0.99 KALMAN_X -4080.791992,576.044312,352.471130,2686.920898,28.647919

_SM_ANGLEo -45.7 KALMAN_Y -5880.416992,1351.641235,464.972198,4496.130859,-542.848938

GPS2 240517,073456,4743.4375,-12224.8965,5,0.8,5,16.3,0.0,0.0,10,27.3 MHEAD_RNG_PITCHd_Wd 341.2,1049,-30.0,-15.000,-31.58,1496

SPEED_LIMITS 0.150,0.244 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.2,1.020258 _10V_AH 10.60,3.054

SM_CCo 2114,18.08,0.571,0,0,2017,520.31 FG_AHR_24Vo 0.000

SM_GC 1.85,28.05,3.58,18.08,0.043,0.035,0.571,512,2267,2017,-6.19,0.82,520.31,0,0,0,0,0,0,26.55,26.58,25.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,240517,072934 MEM 313204

TT8_MAMPS 0.020972,0.104111 DATA_FILE_SIZE 17434,461

HUMID 45.39 CAP_FILE_SIZE 69074,0

INTERNAL_PRESSURE 10.6449 CFSIZE 1024409600,1019461632

TCM_TEMP 10.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 GPS 240517,081210,4743.458,-12225.084,4,0.9,4,16.3,0.0,0.0,9,26.1

_24V_AH 23.87,5.813

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 58 123 171.33 SBE_CT 310 24 177.90

Roll_motor 89 82 177.34 nil 0 0 0.00

VBD_pump_during_apogee 22 2103 1143.68 nil 0 0 0.00

VBD_pump_during_surface 18 571 246.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 81.07 nil 0 0 0.00

Iridium_during_connect 27 160 105.07 nil 0 0 0.00

Iridium_during_xfer 255 223 1361.83 nil 0 0 0.00

Transponder_ping 0 420 2.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 3.48

TT8 1125 19 236.15

LPSleep 119 2 2.79

TT8_Active 259 19 54.44

TT8_Sampling 1000 39 422.18

TT8_CF8 36 45 17.95

TT8_Kalman 33 81 29.01

Analog_circuits 668 12 85.03

GPS_charging 0 0 0.00

Compass 668 5 35.42

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -2.52 -146.6 515 2291 2016 754 0.0 0.0 0 16 7.18 0.00 0.00 0.000 2049 0.123 0.000 1119 2290 2017 2017 734 0 0 0 0 0 0 26.44 28.83 28.83 10.72 45.19

17 -2.52 -146.6 1119 2291 2015 734 1.0 0.0 1 35 6.22 0.00 -5.43 0.000 18438 0.086 0.000 1686 2291 2805 2805 804 0 0 0 0 0 0 26.10 25.70 26.15 10.72 45.11

69 -2.52 -146.6 1686 2291 2805 804 3.7 -16.8 12 75 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2290 2806 2806 778 0 0 0 0 0 0 26.38 26.39 26.39 10.88 44.92

109 -2.52 -146.6 1685 2291 2807 778 10.1 -16.5 21 115 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2290 2807 2807 768 0 0 0 0 0 0 26.44 26.45 26.44 10.88 45.70

149 -2.52 -146.6 1685 2291 2808 768 16.6 -16.3 30 156 0.00 3.92 0.00 0.000 260 0.000 0.080 1686 3686 2808 2808 765 0 0 0 0 0 0 26.48 26.11 26.49 10.88 44.92

194 -2.52 -146.6 1685 3686 2810 765 24.6 -17.7 40 201 0.00 3.65 0.00 0.000 1030 0.000 0.034 1686 2271 2810 2810 759 0 0 0 0 0 0 26.33 26.26 26.36 10.87 44.36

235 -2.52 -146.6 1686 2272 2811 759 31.5 -16.0 49 241 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2271 2811 2811 754 0 0 0 0 0 0 26.56 26.57 26.58 10.87 44.36

275 -2.52 -146.6 1686 2271 2812 754 37.8 -15.7 58 282 0.00 3.83 0.00 0.000 516 0.000 0.062 1686 861 2813 2813 754 0 0 0 0 0 0 26.60 26.24 26.61 10.86 44.48

372 -2.52 -146.6 1685 861 2815 754 52.9 -16.0 81 379 0.00 3.58 0.00 0.000 1030 0.000 0.037 1686 2258 2815 2815 743 0 0 0 0 0 0 26.45 26.34 26.47 10.87 44.68

413 -2.52 -146.6 1686 2258 2817 743 59.2 -15.0 90 419 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2258 2817 2817 741 0 0 0 0 0 0 26.69 26.70 26.70 10.86 44.48

453 -2.52 -146.6 1686 2258 2818 741 65.3 -15.6 99 459 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2258 2818 2818 741 0 0 0 0 0 0 26.71 26.72 26.72 10.86 44.25

493 -2.52 -146.6 1686 2258 2819 741 71.9 -17.2 108 500 0.00 3.78 0.00 0.000 516 0.000 0.063 1686 858 2819 2819 744 0 0 0 0 0 0 26.73 26.36 26.74 10.86 44.25

650 -2.52 -146.6 1686 858 2824 744 99.7 -17.7 146 657 0.00 3.60 0.00 0.000 1030 0.000 0.042 1687 2268 2824 2824 729 0 0 0 0 0 0 26.58 26.48 26.61 10.86 44.68

691 -2.52 -146.6 1686 2268 2825 729 106.6 -16.3 155 698 0.00 4.00 0.00 0.000 260 0.000 0.083 1686 3701 2825 2825 736 0 0 0 0 0 0 26.82 26.42 26.82 10.86 45.11

740 -2.52 -146.6 1686 3701 2826 736 114.9 -17.9 166 747 0.00 3.60 0.00 0.000 1030 0.000 0.035 1686 2276 2827 2827 738 0 0 0 0 0 0 26.63 26.56 26.65 10.86 44.48

782 -2.52 -146.6 1686 2276 2828 738 121.2 -13.7 175 788 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2276 2827 2827 738 0 0 0 0 0 0 26.84 26.85 26.84 10.86 44.76

822 -2.52 -146.6 1686 2276 2829 738 127.3 -14.9 184 828 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2276 2829 2829 739 0 0 0 0 0 0 26.84 26.86 26.86 10.86 44.88

862 -2.52 -146.6 1686 2276 2830 739 133.0 -14.7 193 868 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2275 2830 2830 739 0 0 0 0 0 0 26.86 26.88 26.88 10.86 44.64

902 -2.52 -146.6 1686 2276 2831 739 139.2 -15.5 202 908 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2275 2831 2831 740 0 0 0 0 0 0 26.87 26.89 26.89 10.86 45.39

942 -2.52 -146.6 1686 2276 2832 740 145.2 -14.8 211 948 0.00 0.00 0.00 0.000 6 0.000 0.000 1686 2276 2833 2833 740 0 0 0 0 0 0 26.89 26.90 26.90 10.86 44.40

982 -2.52 -146.6 1686 2275 2834 740 151.8 -17.3 220 989 0.00 3.78 0.00 0.000 516 0.000 0.063 1686 866 2834 2834 744 0 0 0 0 0 0 26.90 26.53 26.91 10.86 45.11

1027 -2.52 -146.6 1686 866 2836 744 160.2 -20.0 230 1034 0.00 3.58 0.00 0.000 1030 0.000 0.037 1686 2277 2836 2836 745 0 0 0 0 0 0 26.68 26.59 26.71 10.85 44.21

1068 -2.52 -146.6 1686 2278 2838 745 168.3 -18.8 239 1074 0.00 0.00 0.00 0.000 6 0.000 0.000 1687 2278 2838 2838 744 0 0 0 0 0 0 26.91 26.93 26.92 10.86 44.88

1108 -2.52 -146.6 1686 2278 2839 744 174.9 -15.8 248 1115 0.00 3.78 0.00 0.000 516 0.000 0.062 1687 866 2839 2839 748 0 0 0 0 0 0 26.91 26.55 26.94 10.86 44.44

1124 end dive: TARGET_DEPTH_EXCEEDED

state 1124 begin apogee

1131 -0.38 0.0 1686 2235 2840 753 177.6 -15.6 251 1155 7.43 0.00 12.35 2.104 10244 0.099 0.000 2367 2235 2626 2626 4095 0 0 0 0 0 0 26.55 25.78 24.22 10.86 44.64

1156 end apogee: CONTROL_FINISHED_OK

state 1156 begin climb

1158 2.52 146.6 2367 2235 2626 4095 180.3 0.0 255 1182 9.40 0.00 10.43 2.018 11270 0.045 0.000 3286 2235 2455 2455 4095 0 0 0 0 0 0 26.08 26.25 23.87 10.82 44.88

1216 2.52 146.6 3286 2235 2453 4095 172.3 20.5 267 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2235 2453 2453 791 0 0 0 0 0 0 26.09 26.10 26.10 10.79 44.21

1256 2.52 146.6 3286 2235 2452 791 164.3 19.9 276 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2235 2452 2452 768 0 0 0 0 0 0 26.21 26.23 26.22 10.80 44.01

1296 2.52 146.6 3286 2235 2450 768 156.8 18.3 285 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2234 2450 2450 752 0 0 0 0 0 0 26.30 26.32 26.32 10.78 44.48

1336 2.52 146.6 3286 2235 2448 752 148.6 19.6 294 1343 0.00 3.97 0.00 0.000 260 0.000 0.070 3287 3655 2448 2448 744 0 0 0 0 0 0 26.36 26.01 26.38 10.79 44.48

1389 2.52 146.6 3286 3655 2445 744 136.6 23.4 306 1396 0.00 3.67 0.00 0.000 1030 0.000 0.034 3287 2226 2446 2446 732 0 0 0 0 0 0 26.25 26.16 26.27 10.79 44.44

1430 2.52 146.6 3286 2226 2444 732 127.5 21.7 315 1436 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2226 2444 2444 725 0 0 0 0 0 0 26.48 26.50 26.50 10.79 44.80

1470 2.52 146.6 3286 2226 2442 725 119.0 21.2 324 1477 0.00 3.97 0.00 0.000 260 0.000 0.073 3286 3650 2442 2442 722 0 0 0 0 0 0 26.53 26.16 26.54 10.78 44.95

1499 2.52 146.6 3286 3650 2441 722 112.0 25.8 330 1506 0.00 3.65 0.00 0.000 1030 0.000 0.035 3287 2231 2440 2440 718 0 0 0 0 0 0 26.34 26.26 26.37 10.78 44.72

1540 2.52 146.6 3286 2231 2439 718 102.6 22.4 339 1546 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2230 2439 2439 712 0 0 0 0 0 0 26.58 26.60 26.59 10.79 44.52

1580 2.52 146.6 3286 2231 2437 712 94.4 19.4 348 1587 0.00 3.95 0.00 0.000 260 0.000 0.071 3287 3651 2437 2437 710 0 0 0 0 0 0 26.61 26.25 26.63 10.78 44.32

1629 2.52 146.6 3286 3652 2435 710 83.9 23.1 359 1636 0.00 3.62 0.00 0.000 1030 0.000 0.034 3287 2232 2435 2435 705 0 0 0 0 0 0 26.44 26.36 26.47 10.78 44.32

1670 2.52 146.6 3285 2231 2433 705 75.2 20.3 368 1676 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2231 2432 2432 701 0 0 0 0 0 0 26.67 26.68 26.68 10.77 44.76

1710 2.52 146.6 3286 2231 2431 701 67.5 18.5 377 1717 0.00 3.85 0.00 0.000 516 0.000 0.067 3287 814 2431 2431 700 0 0 0 0 0 0 26.69 26.32 26.70 10.77 44.44

1787 2.52 146.6 3286 814 2427 700 51.6 21.9 395 1794 0.00 3.62 0.00 0.000 1030 0.000 0.037 3287 2234 2427 2427 695 0 0 0 0 0 0 26.52 26.42 26.55 10.77 44.99

1828 2.52 146.6 3286 2235 2426 695 43.1 20.7 404 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2235 2426 2426 691 0 0 0 0 0 0 26.74 26.76 26.76 10.76 44.92

1868 2.52 146.6 3286 2235 2424 691 35.0 20.2 413 1875 0.00 3.83 0.00 0.000 516 0.000 0.065 3287 814 2424 2424 692 0 0 0 0 0 0 26.77 26.40 26.77 10.76 44.84

1973 2.52 146.6 3286 814 2419 692 14.2 19.2 438 1980 0.00 3.62 0.00 0.000 1030 0.000 0.037 3287 2228 2420 2420 684 0 0 0 0 0 0 26.60 26.50 26.63 10.76 45.47

2014 2.52 146.6 3286 2229 2418 684 7.9 15.5 447 2021 0.00 3.95 0.00 0.000 260 0.000 0.079 3287 3650 2417 2417 687 0 0 0 0 0 0 26.82 26.44 26.84 10.77 45.23

2058 end climb: SURFACE_DEPTH_REACHED

state 2058 begin surface coast

2076 end surface coast: CONTROL_FINISHED_OK

state 2076 begin surface

ID	402	HD_B	0.0143	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	2.4999001e-05	ROLL_DEG	65	ALTIM_TOP_PING_RANGE	0
DIVE	15	HEADING	-1	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	C_ROLL_CLIMB	2230	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	0
D_FLARE	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	13
D_ABORT	210	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	5
D_NO_BLEED	210	SM_CC	520	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	50	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	4045	DEEPGLIDER	2
D_CALL	0	N_NOCOMM	1	C_VBD	2627	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE3	-1
T_DIVE	40	CALL_TRIES	10	VBD_TIMEOUT	360	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0014	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	20	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	495	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3900	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2500	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	150	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
RHO	1.023	PITCH_GAIN	13	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
MASS	72302	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.895668	SEABIRD_C_H	1.1416712
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2915.98
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0060000001	ROLL_MIN	300	COMPASS_USE	4

GPS1	240517,072824,4743.5723,-12224.9287,4,0.9,4,16.3,0.0,0.0,9,29.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.010558,0.243795
_SM_DEPTHo	0.99	KALMAN_X	-4080.791992,576.044312,352.471130,2686.920898,28.647919
_SM_ANGLEo	-45.7	KALMAN_Y	-5880.416992,1351.641235,464.972198,4496.130859,-542.848938
GPS2	240517,073456,4743.4375,-12224.8965,5,0.8,5,16.3,0.0,0.0,10,27.3	MHEAD_RNG_PITCHd_Wd	341.2,1049,-30.0,-15.000,-31.58,1496
SPEED_LIMITS	0.150,0.244	D_GRID	177

FINISH	0.2,1.020258	_10V_AH	10.60,3.054
SM_CCo	2114,18.08,0.571,0,0,2017,520.31	FG_AHR_24Vo	0.000
SM_GC	1.85,28.05,3.58,18.08,0.043,0.035,0.571,512,2267,2017,-6.19,0.82,520.31,0,0,0,0,0,0,26.55,26.58,25.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,240517,072934	MEM	313204
TT8_MAMPS	0.020972,0.104111	DATA_FILE_SIZE	17434,461
HUMID	45.39	CAP_FILE_SIZE	69074,0
INTERNAL_PRESSURE	10.6449	CFSIZE	1024409600,1019461632
TCM_TEMP	10.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	GPS	240517,081210,4743.458,-12225.084,4,0.9,4,16.3,0.0,0.0,9,26.1
_24V_AH	23.87,5.813

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	58	123	171.33	SBE_CT	310	24	177.90
Roll_motor	89	82	177.34	nil	0	0	0.00
VBD_pump_during_apogee	22	2103	1143.68	nil	0	0	0.00
VBD_pump_during_surface	18	571	246.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	81.07	nil	0	0	0.00
Iridium_during_connect	27	160	105.07	nil	0	0	0.00
Iridium_during_xfer	255	223	1361.83	nil	0	0	0.00
Transponder_ping	0	420	2.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	3.48
TT8	1125	19	236.15
LPSleep	119	2	2.79
TT8_Active	259	19	54.44
TT8_Sampling	1000	39	422.18
TT8_CF8	36	45	17.95
TT8_Kalman	33	81	29.01
Analog_circuits	668	12	85.03
GPS_charging	0	0	0.00
Compass	668	5	35.42
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-2.52	-146.6	515	2291	2016	754	0.0	0.0	0	16	7.18	0.00	0.00	0.000	2049	0.123	0.000	1119	2290	2017	2017	734	0	0	0	0	0	0	26.44	28.83	28.83	10.72	45.19
17	-2.52	-146.6	1119	2291	2015	734	1.0	0.0	1	35	6.22	0.00	-5.43	0.000	18438	0.086	0.000	1686	2291	2805	2805	804	0	0	0	0	0	0	26.10	25.70	26.15	10.72	45.11
69	-2.52	-146.6	1686	2291	2805	804	3.7	-16.8	12	75	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2290	2806	2806	778	0	0	0	0	0	0	26.38	26.39	26.39	10.88	44.92
109	-2.52	-146.6	1685	2291	2807	778	10.1	-16.5	21	115	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2290	2807	2807	768	0	0	0	0	0	0	26.44	26.45	26.44	10.88	45.70
149	-2.52	-146.6	1685	2291	2808	768	16.6	-16.3	30	156	0.00	3.92	0.00	0.000	260	0.000	0.080	1686	3686	2808	2808	765	0	0	0	0	0	0	26.48	26.11	26.49	10.88	44.92
194	-2.52	-146.6	1685	3686	2810	765	24.6	-17.7	40	201	0.00	3.65	0.00	0.000	1030	0.000	0.034	1686	2271	2810	2810	759	0	0	0	0	0	0	26.33	26.26	26.36	10.87	44.36
235	-2.52	-146.6	1686	2272	2811	759	31.5	-16.0	49	241	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2271	2811	2811	754	0	0	0	0	0	0	26.56	26.57	26.58	10.87	44.36
275	-2.52	-146.6	1686	2271	2812	754	37.8	-15.7	58	282	0.00	3.83	0.00	0.000	516	0.000	0.062	1686	861	2813	2813	754	0	0	0	0	0	0	26.60	26.24	26.61	10.86	44.48
372	-2.52	-146.6	1685	861	2815	754	52.9	-16.0	81	379	0.00	3.58	0.00	0.000	1030	0.000	0.037	1686	2258	2815	2815	743	0	0	0	0	0	0	26.45	26.34	26.47	10.87	44.68
413	-2.52	-146.6	1686	2258	2817	743	59.2	-15.0	90	419	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2258	2817	2817	741	0	0	0	0	0	0	26.69	26.70	26.70	10.86	44.48
453	-2.52	-146.6	1686	2258	2818	741	65.3	-15.6	99	459	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2258	2818	2818	741	0	0	0	0	0	0	26.71	26.72	26.72	10.86	44.25
493	-2.52	-146.6	1686	2258	2819	741	71.9	-17.2	108	500	0.00	3.78	0.00	0.000	516	0.000	0.063	1686	858	2819	2819	744	0	0	0	0	0	0	26.73	26.36	26.74	10.86	44.25
650	-2.52	-146.6	1686	858	2824	744	99.7	-17.7	146	657	0.00	3.60	0.00	0.000	1030	0.000	0.042	1687	2268	2824	2824	729	0	0	0	0	0	0	26.58	26.48	26.61	10.86	44.68
691	-2.52	-146.6	1686	2268	2825	729	106.6	-16.3	155	698	0.00	4.00	0.00	0.000	260	0.000	0.083	1686	3701	2825	2825	736	0	0	0	0	0	0	26.82	26.42	26.82	10.86	45.11
740	-2.52	-146.6	1686	3701	2826	736	114.9	-17.9	166	747	0.00	3.60	0.00	0.000	1030	0.000	0.035	1686	2276	2827	2827	738	0	0	0	0	0	0	26.63	26.56	26.65	10.86	44.48
782	-2.52	-146.6	1686	2276	2828	738	121.2	-13.7	175	788	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2276	2827	2827	738	0	0	0	0	0	0	26.84	26.85	26.84	10.86	44.76
822	-2.52	-146.6	1686	2276	2829	738	127.3	-14.9	184	828	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2276	2829	2829	739	0	0	0	0	0	0	26.84	26.86	26.86	10.86	44.88
862	-2.52	-146.6	1686	2276	2830	739	133.0	-14.7	193	868	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2275	2830	2830	739	0	0	0	0	0	0	26.86	26.88	26.88	10.86	44.64
902	-2.52	-146.6	1686	2276	2831	739	139.2	-15.5	202	908	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2275	2831	2831	740	0	0	0	0	0	0	26.87	26.89	26.89	10.86	45.39
942	-2.52	-146.6	1686	2276	2832	740	145.2	-14.8	211	948	0.00	0.00	0.00	0.000	6	0.000	0.000	1686	2276	2833	2833	740	0	0	0	0	0	0	26.89	26.90	26.90	10.86	44.40
982	-2.52	-146.6	1686	2275	2834	740	151.8	-17.3	220	989	0.00	3.78	0.00	0.000	516	0.000	0.063	1686	866	2834	2834	744	0	0	0	0	0	0	26.90	26.53	26.91	10.86	45.11
1027	-2.52	-146.6	1686	866	2836	744	160.2	-20.0	230	1034	0.00	3.58	0.00	0.000	1030	0.000	0.037	1686	2277	2836	2836	745	0	0	0	0	0	0	26.68	26.59	26.71	10.85	44.21
1068	-2.52	-146.6	1686	2278	2838	745	168.3	-18.8	239	1074	0.00	0.00	0.00	0.000	6	0.000	0.000	1687	2278	2838	2838	744	0	0	0	0	0	0	26.91	26.93	26.92	10.86	44.88
1108	-2.52	-146.6	1686	2278	2839	744	174.9	-15.8	248	1115	0.00	3.78	0.00	0.000	516	0.000	0.062	1687	866	2839	2839	748	0	0	0	0	0	0	26.91	26.55	26.94	10.86	44.44
1124	end dive: TARGET_DEPTH_EXCEEDED
state	1124	begin apogee
1131	-0.38	0.0	1686	2235	2840	753	177.6	-15.6	251	1155	7.43	0.00	12.35	2.104	10244	0.099	0.000	2367	2235	2626	2626	4095	0	0	0	0	0	0	26.55	25.78	24.22	10.86	44.64
1156	end apogee: CONTROL_FINISHED_OK
state	1156	begin climb
1158	2.52	146.6	2367	2235	2626	4095	180.3	0.0	255	1182	9.40	0.00	10.43	2.018	11270	0.045	0.000	3286	2235	2455	2455	4095	0	0	0	0	0	0	26.08	26.25	23.87	10.82	44.88
1216	2.52	146.6	3286	2235	2453	4095	172.3	20.5	267	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2235	2453	2453	791	0	0	0	0	0	0	26.09	26.10	26.10	10.79	44.21
1256	2.52	146.6	3286	2235	2452	791	164.3	19.9	276	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2235	2452	2452	768	0	0	0	0	0	0	26.21	26.23	26.22	10.80	44.01
1296	2.52	146.6	3286	2235	2450	768	156.8	18.3	285	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2234	2450	2450	752	0	0	0	0	0	0	26.30	26.32	26.32	10.78	44.48
1336	2.52	146.6	3286	2235	2448	752	148.6	19.6	294	1343	0.00	3.97	0.00	0.000	260	0.000	0.070	3287	3655	2448	2448	744	0	0	0	0	0	0	26.36	26.01	26.38	10.79	44.48
1389	2.52	146.6	3286	3655	2445	744	136.6	23.4	306	1396	0.00	3.67	0.00	0.000	1030	0.000	0.034	3287	2226	2446	2446	732	0	0	0	0	0	0	26.25	26.16	26.27	10.79	44.44
1430	2.52	146.6	3286	2226	2444	732	127.5	21.7	315	1436	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2226	2444	2444	725	0	0	0	0	0	0	26.48	26.50	26.50	10.79	44.80
1470	2.52	146.6	3286	2226	2442	725	119.0	21.2	324	1477	0.00	3.97	0.00	0.000	260	0.000	0.073	3286	3650	2442	2442	722	0	0	0	0	0	0	26.53	26.16	26.54	10.78	44.95
1499	2.52	146.6	3286	3650	2441	722	112.0	25.8	330	1506	0.00	3.65	0.00	0.000	1030	0.000	0.035	3287	2231	2440	2440	718	0	0	0	0	0	0	26.34	26.26	26.37	10.78	44.72
1540	2.52	146.6	3286	2231	2439	718	102.6	22.4	339	1546	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2230	2439	2439	712	0	0	0	0	0	0	26.58	26.60	26.59	10.79	44.52
1580	2.52	146.6	3286	2231	2437	712	94.4	19.4	348	1587	0.00	3.95	0.00	0.000	260	0.000	0.071	3287	3651	2437	2437	710	0	0	0	0	0	0	26.61	26.25	26.63	10.78	44.32
1629	2.52	146.6	3286	3652	2435	710	83.9	23.1	359	1636	0.00	3.62	0.00	0.000	1030	0.000	0.034	3287	2232	2435	2435	705	0	0	0	0	0	0	26.44	26.36	26.47	10.78	44.32
1670	2.52	146.6	3285	2231	2433	705	75.2	20.3	368	1676	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2231	2432	2432	701	0	0	0	0	0	0	26.67	26.68	26.68	10.77	44.76
1710	2.52	146.6	3286	2231	2431	701	67.5	18.5	377	1717	0.00	3.85	0.00	0.000	516	0.000	0.067	3287	814	2431	2431	700	0	0	0	0	0	0	26.69	26.32	26.70	10.77	44.44
1787	2.52	146.6	3286	814	2427	700	51.6	21.9	395	1794	0.00	3.62	0.00	0.000	1030	0.000	0.037	3287	2234	2427	2427	695	0	0	0	0	0	0	26.52	26.42	26.55	10.77	44.99
1828	2.52	146.6	3286	2235	2426	695	43.1	20.7	404	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2235	2426	2426	691	0	0	0	0	0	0	26.74	26.76	26.76	10.76	44.92
1868	2.52	146.6	3286	2235	2424	691	35.0	20.2	413	1875	0.00	3.83	0.00	0.000	516	0.000	0.065	3287	814	2424	2424	692	0	0	0	0	0	0	26.77	26.40	26.77	10.76	44.84
1973	2.52	146.6	3286	814	2419	692	14.2	19.2	438	1980	0.00	3.62	0.00	0.000	1030	0.000	0.037	3287	2228	2420	2420	684	0	0	0	0	0	0	26.60	26.50	26.63	10.76	45.47
2014	2.52	146.6	3286	2229	2418	684	7.9	15.5	447	2021	0.00	3.95	0.00	0.000	260	0.000	0.079	3287	3650	2417	2417	687	0	0	0	0	0	0	26.82	26.44	26.84	10.77	45.23
2058	end climb: SURFACE_DEPTH_REACHED
state	2058	begin surface coast
2076	end surface coast: CONTROL_FINISHED_OK
state	2076	begin surface