Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 1775 ALTIM_TOP_TURN_MARGIN 0

MISSION 28 HEADING -1 C_ROLL_CLIMB 1775 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 20 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_PING_DEPTH 120

N_DIVES 25 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 20 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 28 ALTIM_SENSITIVITY 3

D_TGT 120 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 2515 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 5 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 40 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_MISSION 50 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 2600 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 120 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 5 HEAD_ERRBAND 20 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 45 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 40

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 50

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 2600 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1775 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 1775 MASS 73949 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 2515 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 20 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 28 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 20 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 25 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 230518,113314,4740.9531,-12226.4199,4,0.9,26,16.3,0.4,199.8,9,5.0 TGT_NAME NW

_CALLS 4 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081086,0.318690

_SM_DEPTHo 1.41 KALMAN_X -5772.125000,-894.440002,-206.452866,5093.556152,-25.371231

_SM_ANGLEo -58.8 KALMAN_Y -11644.590820,-2048.059082,67.765778,10068.502930,-299.891235

GPS2 230518,114903,4740.7959,-12226.5303,6,0.8,18,16.3,0.4,201.7,10,5.0 MHEAD_RNG_PITCHd_Wd 358.0,6313,-13.3,-10.000,-16.91,4474

SPEED_LIMITS 0.143,0.329 D_GRID 130

Post-dive calculations and measurements:

SM_CCo 2483,0.00,0.000,0,0,1700,753.49 _24V_AH 24.06,5.907

SM_GC 1.45,30.85,0.00,0.00,0.021,0.000,0.000,243,1776,1700,-7.36,0.05,753.49,0,0,0,0,0,0,26.23,26.57,26.34 _10V_AH 10.25,6.667

IRIDIUM_FIX 4808.40,-12337.82,230518,105338 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.738514 FG_AHR_10Vo 0.000

HUMID 50.07 MEM 313032

INTERNAL_PRESSURE 10.2774 DATA_FILE_SIZE 7039,239

TCM_TEMP 10.50 CAP_FILE_SIZE 107033,0

XPDR_PINGS 1 CFSIZE 1023623168,1018789888

ALTIM_TOP_PING 13.9,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 120.3,28.2 GPS 230518,123255,4741.264,-12226.159,4,1.0,35,16.3,0.4,223.6,9,4.8

SC_FREEKB 3898624

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 64 117 184.10 nil 0 0 0.00

Roll_motor 25 87 53.61 nil 0 0 0.00

VBD_pump_during_apogee 67 1774 2876.85 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 96 103 237.99 nil 0 0 0.00

Iridium_during_connect 68 160 262.73 SciCon 2409 70 4082.62

Iridium_during_xfer 512 223 2747.98 nil 0 0 0.00

Transponder_ping 130 420 1318.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.22

TT8 280 19 56.97

LPSleep 1107 2 24.86

TT8_Active 143 19 29.18

TT8_Sampling 1857 39 757.62

TT8_CF8 75 45 35.41

TT8_Kalman 33 81 28.06

Analog_circuits 486 12 59.78

GPS_charging 0 0 0.00

Compass 354 5 18.19

RAFOS 0 0 0.00

Transponder 1278 30 393.11

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 1771 1828 2045 0.0 0.0 0 21 0.00 0.00 -7.65 0.000 16390 0.000 0.000 243 1774 2827 2827 2041 0 0 0 0 0 0 26.40 25.34 26.44 10.38 49.92

23 -1.27 -293.3 244 1776 2835 2041 1.9 0.0 1 50 23.52 0.00 0.00 0.000 2054 0.118 0.000 2182 1771 2838 2838 2046 0 0 0 0 0 0 26.04 26.19 26.16 10.62 50.03

112 -1.27 -293.3 2182 1778 2839 2046 19.3 -10.6 10 113 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1772 2839 2839 2050 0 0 0 0 0 0 26.48 26.48 26.51 10.59 49.29

171 -1.27 -293.3 2182 1772 2841 2050 25.8 -11.1 16 173 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1772 2843 2843 2046 0 0 0 0 0 0 26.53 26.55 26.56 10.59 49.88

231 -1.27 -293.3 2182 1772 2842 2046 32.7 -11.2 22 233 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 1772 2842 2842 2051 0 0 0 0 0 0 26.59 26.59 26.60 10.55 49.44

291 -1.27 -293.3 2182 1772 2843 2051 40.1 -13.0 28 293 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1771 2843 2843 2046 0 0 0 0 0 0 26.63 26.65 26.65 10.57 49.60

352 -1.27 -293.3 2182 1772 2845 2046 47.2 -11.2 34 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1773 2842 2842 2046 0 0 0 0 0 0 26.70 26.70 26.68 10.57 49.68

412 -1.27 -293.3 2183 1772 2847 2046 54.7 -12.2 40 413 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1771 2843 2843 2043 0 0 0 0 0 0 26.70 26.72 26.72 10.57 50.00

471 -1.27 -293.3 2182 1772 2848 2043 61.5 -11.4 46 473 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 1772 2849 2849 2046 0 0 0 0 0 0 26.74 26.75 26.75 10.56 50.19

533 -1.27 -293.3 2182 1772 2849 2046 68.1 -11.0 52 537 0.00 2.47 0.00 0.000 260 0.000 0.046 2188 2759 2847 2847 2046 0 0 0 0 0 0 26.79 26.45 26.77 10.57 50.07

567 -1.27 -293.3 2182 2758 2850 2046 71.8 -10.6 58 573 0.00 2.50 0.00 0.000 1030 0.000 0.040 2179 1780 2850 2850 2046 0 0 0 0 0 0 26.53 26.46 26.56 10.56 50.03

634 -1.27 -293.3 2182 1780 2851 2046 79.4 -11.9 65 635 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 1784 2852 2852 2046 0 0 0 0 0 0 26.80 26.82 26.80 10.56 50.70

723 -1.27 -293.3 2182 1780 2854 2046 88.7 -11.8 71 738 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 1780 2854 2854 2046 0 0 0 0 0 0 26.75 26.77 26.77 10.56 50.27

823 -1.27 -293.3 2180 1780 2856 2046 100.4 -11.6 78 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1779 2857 2857 2046 0 0 0 0 0 0 26.75 26.77 26.77 10.53 50.35

922 -1.27 -293.3 2182 1784 2858 2046 111.0 -9.6 85 937 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 1779 2859 2859 2046 0 0 0 0 0 0 26.73 26.72 26.71 10.55 50.27

1034 end dive: TARGET_DEPTH_EXCEEDED

state 1034 begin apogee

1037 -0.31 0.0 2181 1778 2860 2045 120.3 -9.0 92 1061 3.20 0.00 16.92 1.774 10244 0.066 0.000 2496 1779 2514 2514 2046 0 0 0 0 0 0 26.39 25.67 24.55 10.56 50.11

1062 end apogee: CONTROL_FINISHED_OK

state 1063 begin climb

1064 1.27 293.3 2486 1779 2514 2046 123.8 0.0 97 1090 5.35 0.00 16.08 1.745 11270 0.052 0.000 2986 1779 2195 2195 2046 0 0 0 0 0 0 25.89 26.08 24.06 10.49 49.84

1151 1.27 293.3 2984 1783 2195 2046 116.5 10.6 108 1156 0.00 2.58 0.00 0.000 260 0.000 0.041 2986 2747 2200 2200 2046 0 0 0 0 0 0 25.97 25.70 25.98 10.41 49.25

1216 1.27 293.3 2986 2748 2194 2046 108.5 12.2 119 1222 0.00 2.55 0.00 0.000 1030 0.000 0.041 2993 1781 2193 2193 2046 0 0 0 0 0 0 25.95 25.89 25.97 10.41 49.68

1283 1.27 293.3 2986 1781 2196 2046 101.9 10.0 126 1288 0.00 2.75 0.03 0.003 8708 0.000 0.085 2991 793 2191 2191 2045 0 0 0 0 0 0 26.31 25.96 26.32 10.40 50.43

1362 1.28 297.9 2986 795 2189 2045 94.5 9.9 139 1366 0.00 2.40 0.00 0.000 1030 0.000 0.034 2985 1814 2191 2191 2045 0 0 0 0 0 0 26.26 26.22 26.28 10.40 50.23

1427 1.38 366.1 2985 1821 2189 2045 88.8 8.4 146 1437 0.35 0.00 5.10 1.016 10246 0.034 0.000 3031 1827 2115 2115 2045 0 0 0 0 0 0 26.30 25.77 24.98 10.40 50.78

1497 1.42 392.6 3031 1821 2115 2045 82.6 9.4 153 1501 0.00 0.00 2.88 0.496 8198 0.000 0.000 3030 1821 2092 2092 2046 0 0 0 0 0 0 26.48 26.05 25.08 10.33 51.33

1557 1.44 403.0 3031 1821 2091 2046 76.7 9.8 159 1561 0.00 0.00 2.40 0.280 8198 0.000 0.000 3031 1821 2087 2087 2052 0 0 0 0 0 0 26.48 26.12 25.13 10.39 50.63

1616 1.44 403.0 3031 1821 2078 2052 70.4 10.7 165 1622 0.00 2.85 0.00 0.000 516 0.000 0.087 3035 793 2077 2077 2046 0 0 0 0 0 0 26.54 26.17 26.55 10.38 50.82

1688 1.44 403.0 3031 793 2076 2046 62.2 11.5 177 1694 0.00 2.38 0.00 0.000 1030 0.000 0.035 3036 1774 2076 2076 2045 0 0 0 0 0 0 26.42 26.39 26.43 10.38 51.06

1782 1.51 453.2 3028 1776 2074 2045 54.6 8.9 184 1798 0.25 0.00 3.97 0.661 10246 0.045 0.000 3069 1776 2025 2025 2046 0 0 0 0 0 0 26.47 25.99 25.29 10.37 51.33

1883 1.51 453.2 3068 1776 2023 2046 44.0 11.4 191 1898 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 1776 2023 2023 2046 0 0 0 0 0 0 26.57 26.58 26.58 10.36 51.06

1983 1.65 543.8 3068 1776 2015 2046 36.5 7.9 198 1999 0.32 0.00 5.78 0.756 10246 0.041 0.000 3113 1776 1927 1927 2046 0 0 0 0 0 0 26.42 25.97 25.42 10.35 51.33

2084 1.70 577.4 3112 1776 1925 2046 27.8 9.2 205 2099 0.00 0.00 3.47 0.460 8198 0.000 0.000 3112 1776 1886 1886 2046 0 0 0 0 0 0 26.55 25.99 25.52 10.32 51.53

2184 1.70 577.4 3112 1776 1884 2046 17.6 10.7 212 2199 0.08 0.00 0.00 0.000 2054 0.101 0.000 3134 1776 1884 1884 2046 0 0 0 0 0 0 26.32 26.37 26.39 10.38 51.41

2267 1.79 641.8 3129 1776 1888 2046 8.2 8.5 219 2279 0.22 2.72 4.45 0.468 10756 0.047 0.086 3170 805 1816 1816 2050 0 0 0 0 0 0 26.38 26.17 25.62 10.33 50.86

2344 2.12 855.6 3165 796 1815 2050 2.4 5.1 232 2357 0.80 2.35 6.32 0.534 11266 0.019 0.036 3263 1783 1700 1700 2045 0 0 0 0 0 0 26.41 26.39 26.39 10.35 51.02

2359 end climb: SURFACE_DEPTH_REACHED

state 2359 begin surface coast

2386 end surface coast: CONTROL_FINISHED_OK

state 2386 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	1775	ALTIM_TOP_TURN_MARGIN	0
MISSION	28	HEADING	-1	C_ROLL_CLIMB	1775	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	20	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_PING_DEPTH	120
N_DIVES	25	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	20	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	3
D_TGT	120	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	2515	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	5	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	40	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_MISSION	50	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	2600	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	230518,113314,4740.9531,-12226.4199,4,0.9,26,16.3,0.4,199.8,9,5.0	TGT_NAME	NW
_CALLS	4	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081086,0.318690
_SM_DEPTHo	1.41	KALMAN_X	-5772.125000,-894.440002,-206.452866,5093.556152,-25.371231
_SM_ANGLEo	-58.8	KALMAN_Y	-11644.590820,-2048.059082,67.765778,10068.502930,-299.891235
GPS2	230518,114903,4740.7959,-12226.5303,6,0.8,18,16.3,0.4,201.7,10,5.0	MHEAD_RNG_PITCHd_Wd	358.0,6313,-13.3,-10.000,-16.91,4474
SPEED_LIMITS	0.143,0.329	D_GRID	130

SM_CCo	2483,0.00,0.000,0,0,1700,753.49	_24V_AH	24.06,5.907
SM_GC	1.45,30.85,0.00,0.00,0.021,0.000,0.000,243,1776,1700,-7.36,0.05,753.49,0,0,0,0,0,0,26.23,26.57,26.34	_10V_AH	10.25,6.667
IRIDIUM_FIX	4808.40,-12337.82,230518,105338	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.738514	FG_AHR_10Vo	0.000
HUMID	50.07	MEM	313032
INTERNAL_PRESSURE	10.2774	DATA_FILE_SIZE	7039,239
TCM_TEMP	10.50	CAP_FILE_SIZE	107033,0
XPDR_PINGS	1	CFSIZE	1023623168,1018789888
ALTIM_TOP_PING	13.9,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.3,28.2	GPS	230518,123255,4741.264,-12226.159,4,1.0,35,16.3,0.4,223.6,9,4.8
SC_FREEKB	3898624

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	64	117	184.10	nil	0	0	0.00
Roll_motor	25	87	53.61	nil	0	0	0.00
VBD_pump_during_apogee	67	1774	2876.85	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	96	103	237.99	nil	0	0	0.00
Iridium_during_connect	68	160	262.73	SciCon	2409	70	4082.62
Iridium_during_xfer	512	223	2747.98	nil	0	0	0.00
Transponder_ping	130	420	1318.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.22
TT8	280	19	56.97
LPSleep	1107	2	24.86
TT8_Active	143	19	29.18
TT8_Sampling	1857	39	757.62
TT8_CF8	75	45	35.41
TT8_Kalman	33	81	28.06
Analog_circuits	486	12	59.78
GPS_charging	0	0	0.00
Compass	354	5	18.19
RAFOS	0	0	0.00
Transponder	1278	30	393.11

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	1771	1828	2045	0.0	0.0	0	21	0.00	0.00	-7.65	0.000	16390	0.000	0.000	243	1774	2827	2827	2041	0	0	0	0	0	0	26.40	25.34	26.44	10.38	49.92
23	-1.27	-293.3	244	1776	2835	2041	1.9	0.0	1	50	23.52	0.00	0.00	0.000	2054	0.118	0.000	2182	1771	2838	2838	2046	0	0	0	0	0	0	26.04	26.19	26.16	10.62	50.03
112	-1.27	-293.3	2182	1778	2839	2046	19.3	-10.6	10	113	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1772	2839	2839	2050	0	0	0	0	0	0	26.48	26.48	26.51	10.59	49.29
171	-1.27	-293.3	2182	1772	2841	2050	25.8	-11.1	16	173	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1772	2843	2843	2046	0	0	0	0	0	0	26.53	26.55	26.56	10.59	49.88
231	-1.27	-293.3	2182	1772	2842	2046	32.7	-11.2	22	233	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	1772	2842	2842	2051	0	0	0	0	0	0	26.59	26.59	26.60	10.55	49.44
291	-1.27	-293.3	2182	1772	2843	2051	40.1	-13.0	28	293	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1771	2843	2843	2046	0	0	0	0	0	0	26.63	26.65	26.65	10.57	49.60
352	-1.27	-293.3	2182	1772	2845	2046	47.2	-11.2	34	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1773	2842	2842	2046	0	0	0	0	0	0	26.70	26.70	26.68	10.57	49.68
412	-1.27	-293.3	2183	1772	2847	2046	54.7	-12.2	40	413	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1771	2843	2843	2043	0	0	0	0	0	0	26.70	26.72	26.72	10.57	50.00
471	-1.27	-293.3	2182	1772	2848	2043	61.5	-11.4	46	473	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	1772	2849	2849	2046	0	0	0	0	0	0	26.74	26.75	26.75	10.56	50.19
533	-1.27	-293.3	2182	1772	2849	2046	68.1	-11.0	52	537	0.00	2.47	0.00	0.000	260	0.000	0.046	2188	2759	2847	2847	2046	0	0	0	0	0	0	26.79	26.45	26.77	10.57	50.07
567	-1.27	-293.3	2182	2758	2850	2046	71.8	-10.6	58	573	0.00	2.50	0.00	0.000	1030	0.000	0.040	2179	1780	2850	2850	2046	0	0	0	0	0	0	26.53	26.46	26.56	10.56	50.03
634	-1.27	-293.3	2182	1780	2851	2046	79.4	-11.9	65	635	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	1784	2852	2852	2046	0	0	0	0	0	0	26.80	26.82	26.80	10.56	50.70
723	-1.27	-293.3	2182	1780	2854	2046	88.7	-11.8	71	738	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	1780	2854	2854	2046	0	0	0	0	0	0	26.75	26.77	26.77	10.56	50.27
823	-1.27	-293.3	2180	1780	2856	2046	100.4	-11.6	78	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1779	2857	2857	2046	0	0	0	0	0	0	26.75	26.77	26.77	10.53	50.35
922	-1.27	-293.3	2182	1784	2858	2046	111.0	-9.6	85	937	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	1779	2859	2859	2046	0	0	0	0	0	0	26.73	26.72	26.71	10.55	50.27
1034	end dive: TARGET_DEPTH_EXCEEDED
state	1034	begin apogee
1037	-0.31	0.0	2181	1778	2860	2045	120.3	-9.0	92	1061	3.20	0.00	16.92	1.774	10244	0.066	0.000	2496	1779	2514	2514	2046	0	0	0	0	0	0	26.39	25.67	24.55	10.56	50.11
1062	end apogee: CONTROL_FINISHED_OK
state	1063	begin climb
1064	1.27	293.3	2486	1779	2514	2046	123.8	0.0	97	1090	5.35	0.00	16.08	1.745	11270	0.052	0.000	2986	1779	2195	2195	2046	0	0	0	0	0	0	25.89	26.08	24.06	10.49	49.84
1151	1.27	293.3	2984	1783	2195	2046	116.5	10.6	108	1156	0.00	2.58	0.00	0.000	260	0.000	0.041	2986	2747	2200	2200	2046	0	0	0	0	0	0	25.97	25.70	25.98	10.41	49.25
1216	1.27	293.3	2986	2748	2194	2046	108.5	12.2	119	1222	0.00	2.55	0.00	0.000	1030	0.000	0.041	2993	1781	2193	2193	2046	0	0	0	0	0	0	25.95	25.89	25.97	10.41	49.68
1283	1.27	293.3	2986	1781	2196	2046	101.9	10.0	126	1288	0.00	2.75	0.03	0.003	8708	0.000	0.085	2991	793	2191	2191	2045	0	0	0	0	0	0	26.31	25.96	26.32	10.40	50.43
1362	1.28	297.9	2986	795	2189	2045	94.5	9.9	139	1366	0.00	2.40	0.00	0.000	1030	0.000	0.034	2985	1814	2191	2191	2045	0	0	0	0	0	0	26.26	26.22	26.28	10.40	50.23
1427	1.38	366.1	2985	1821	2189	2045	88.8	8.4	146	1437	0.35	0.00	5.10	1.016	10246	0.034	0.000	3031	1827	2115	2115	2045	0	0	0	0	0	0	26.30	25.77	24.98	10.40	50.78
1497	1.42	392.6	3031	1821	2115	2045	82.6	9.4	153	1501	0.00	0.00	2.88	0.496	8198	0.000	0.000	3030	1821	2092	2092	2046	0	0	0	0	0	0	26.48	26.05	25.08	10.33	51.33
1557	1.44	403.0	3031	1821	2091	2046	76.7	9.8	159	1561	0.00	0.00	2.40	0.280	8198	0.000	0.000	3031	1821	2087	2087	2052	0	0	0	0	0	0	26.48	26.12	25.13	10.39	50.63
1616	1.44	403.0	3031	1821	2078	2052	70.4	10.7	165	1622	0.00	2.85	0.00	0.000	516	0.000	0.087	3035	793	2077	2077	2046	0	0	0	0	0	0	26.54	26.17	26.55	10.38	50.82
1688	1.44	403.0	3031	793	2076	2046	62.2	11.5	177	1694	0.00	2.38	0.00	0.000	1030	0.000	0.035	3036	1774	2076	2076	2045	0	0	0	0	0	0	26.42	26.39	26.43	10.38	51.06
1782	1.51	453.2	3028	1776	2074	2045	54.6	8.9	184	1798	0.25	0.00	3.97	0.661	10246	0.045	0.000	3069	1776	2025	2025	2046	0	0	0	0	0	0	26.47	25.99	25.29	10.37	51.33
1883	1.51	453.2	3068	1776	2023	2046	44.0	11.4	191	1898	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	1776	2023	2023	2046	0	0	0	0	0	0	26.57	26.58	26.58	10.36	51.06
1983	1.65	543.8	3068	1776	2015	2046	36.5	7.9	198	1999	0.32	0.00	5.78	0.756	10246	0.041	0.000	3113	1776	1927	1927	2046	0	0	0	0	0	0	26.42	25.97	25.42	10.35	51.33
2084	1.70	577.4	3112	1776	1925	2046	27.8	9.2	205	2099	0.00	0.00	3.47	0.460	8198	0.000	0.000	3112	1776	1886	1886	2046	0	0	0	0	0	0	26.55	25.99	25.52	10.32	51.53
2184	1.70	577.4	3112	1776	1884	2046	17.6	10.7	212	2199	0.08	0.00	0.00	0.000	2054	0.101	0.000	3134	1776	1884	1884	2046	0	0	0	0	0	0	26.32	26.37	26.39	10.38	51.41
2267	1.79	641.8	3129	1776	1888	2046	8.2	8.5	219	2279	0.22	2.72	4.45	0.468	10756	0.047	0.086	3170	805	1816	1816	2050	0	0	0	0	0	0	26.38	26.17	25.62	10.33	50.86
2344	2.12	855.6	3165	796	1815	2050	2.4	5.1	232	2357	0.80	2.35	6.32	0.534	11266	0.019	0.036	3263	1783	1700	1700	2045	0	0	0	0	0	0	26.41	26.39	26.39	10.35	51.02
2359	end climb: SURFACE_DEPTH_REACHED
state	2359	begin surface coast
2386	end surface coast: CONTROL_FINISHED_OK
state	2386	begin surface