Glider dive log

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

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 75 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 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 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 2615 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 400 PITCH_CNV 0.00312576 FG_AHR_10V 0 SEABIRD_T_J 3.3947326e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.162049

GLIDE_SLOPE 35 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.142972

SPEED_FACTOR 1 PITCH_GAIN 15 PRESSURE_YINT -50.894402 SEABIRD_C_I -0.0032838252

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_SLOPE 2.5699999e-05 SEABIRD_C_J 0.00030784801

MASS 73949 PITCH_AD_RATE 70 AD7714Ch0Gain 1 SEABIRD_C_Z 2991.02

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 SC_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 250 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0040000002 ROLL_MAX 3888 ALTIM_TOP_PING_RANGE 15

HD_B 0.012 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 70 SIM_PITCH 0

AH0_10V 100 D_TGT 150 PITCH_CNV 0.00312576 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3775 STOP_T 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 2 FG_AHR_24V 0 PITCH_MIN 220 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 120 FILEMGR 0 PITCH_TIMEOUT 50 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 7 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 35 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 15 HD_A 0.0040000002 PRESSURE_SLOPE 2.5699999e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PRESSURE_YINT -50.894402 TGT_DEFAULT_LAT 5650

APOGEE_PITCH -5 HD_C 5.7000002e-06 PROTOCOL 9 TGT_DEFAULT_LON -16401

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 5 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 2615 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 400 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 8 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 75 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 22 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 230518,133930,4741.7778,-12225.8926,4,0.9,13,16.3,0.0,0.0,9,4.6 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067377,0.365699

_SM_DEPTHo 1.35 KALMAN_X -5985.764648,-859.553528,176.803955,5527.860840,210.251312

_SM_ANGLEo -55.9 KALMAN_Y -12349.345703,-1968.687622,399.459534,11930.373047,86.530273

GPS2 230518,135359,4741.6387,-12226.0215,7,0.9,15,16.3,0.0,0.0,10,4.5 MHEAD_RNG_PITCHd_Wd 354.1,4630,-11.2,-10.000,-15.05,5957

SPEED_LIMITS 0.143,0.372 D_GRID 164

Post-dive calculations and measurements:

SM_CCo 2794,0.00,0.000,0,0,1831,630.68 _24V_AH 23.46,6.089

SM_GC 1.36,29.70,0.00,0.00,0.022,0.000,0.000,231,1773,1831,-7.45,-0.09,630.68,0,0,0,0,0,0,26.19,26.70,26.41 _10V_AH 10.27,6.865

IRIDIUM_FIX 4808.40,-12337.82,230518,123625 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,0.80143 FG_AHR_10Vo 0.000

HUMID 50.00 MEM 312872

INTERNAL_PRESSURE 10.2872 DATA_FILE_SIZE 7032,255

TCM_TEMP 10.10 CAP_FILE_SIZE 115161,0

XPDR_PINGS 0 CFSIZE 1023623168,1018494976

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 120.8,56.5 GPS 230518,144313,4742.137,-12225.703,8,1.0,53,16.3,0.3,200.9,8,3.0

SC_FREEKB 3897472

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 63 146 217.07 nil 0 0 0.00

Roll_motor 20 178 83.63 nil 0 0 0.00

VBD_pump_during_apogee 59 2109 2937.85 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 49 103 119.79 nil 0 0 0.00

Iridium_during_connect 33 160 125.85 SciCon 2723 69 4465.71

Iridium_during_xfer 602 223 3154.05 nil 0 0 0.00

Transponder_ping 150 420 1480.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.60

TT8 287 19 58.41

LPSleep 1170 2 26.33

TT8_Active 141 19 28.73

TT8_Sampling 2009 39 821.31

TT8_CF8 75 45 35.28

TT8_Kalman 33 81 28.09

Analog_circuits 519 12 64.07

GPS_charging 0 0 0.00

Compass 377 5 19.39

RAFOS 0 0 0.00

Transponder 1487 30 458.15

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 -1.33 -391.0 237 1779 1766 2046 0.0 0.0 0 21 0.00 0.00 -9.18 0.000 16390 0.000 0.000 232 1778 2941 2941 2052 0 0 0 0 0 0 26.35 25.25 26.36 10.38 49.64

23 -1.33 -391.0 232 1778 2947 2052 1.7 0.0 1 50 23.75 0.00 0.00 0.000 2054 0.120 0.000 2177 1777 2946 2946 2049 0 0 0 0 0 0 25.97 26.12 26.11 10.63 49.64

111 -1.33 -391.0 2178 1777 2948 2049 23.2 -13.7 10 113 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 1777 2948 2948 2046 0 0 0 0 0 0 26.44 26.45 26.44 10.60 49.13

171 -1.33 -391.0 2178 1778 2950 2046 30.6 -12.8 16 173 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1777 2950 2950 2046 0 0 0 0 0 0 26.50 26.51 26.51 10.59 49.44

231 -1.33 -391.0 2178 1777 2950 2046 37.1 -11.2 22 233 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1777 2951 2951 2046 0 0 0 0 0 0 26.56 26.57 26.57 10.58 49.01

291 -1.33 -391.0 2178 1777 2956 2046 44.4 -13.0 28 293 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1777 2952 2952 2046 0 0 0 0 0 0 26.60 26.62 26.64 10.59 49.25

352 -1.33 -391.0 2178 1777 2954 2046 52.2 -12.7 34 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1777 2955 2955 2046 0 0 0 0 0 0 26.65 26.66 26.66 10.59 49.60

412 -1.33 -391.0 2178 1777 2960 2046 59.6 -12.3 40 417 0.00 2.70 0.00 0.000 516 0.000 0.083 2179 792 2955 2955 2046 0 0 0 0 0 0 26.67 26.32 26.70 10.58 49.40

491 -1.33 -391.0 2178 792 2957 2046 70.6 -14.8 53 495 0.00 2.30 0.00 0.000 1030 0.000 0.034 2184 1754 2959 2959 2045 0 0 0 0 0 0 26.55 26.51 26.56 10.57 49.72

556 -1.33 -391.0 2178 1761 2961 2045 79.0 -12.3 60 557 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1758 2960 2960 2046 0 0 0 0 0 0 26.75 26.77 26.77 10.58 49.76

647 -1.33 -391.0 2175 1761 2962 2046 89.2 -13.1 66 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1761 2962 2962 2046 0 0 0 0 0 0 26.71 26.74 26.73 10.57 49.96

749 -1.33 -391.0 2178 1762 2964 2046 102.8 -13.3 73 763 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1761 2965 2965 2046 0 0 0 0 0 0 26.72 26.74 26.72 10.58 49.92

849 -1.33 -391.0 2178 1761 2968 2046 115.3 -12.0 80 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1761 2967 2967 2046 0 0 0 0 0 0 26.74 26.74 26.70 10.56 49.88

963 -1.33 -391.0 2178 1762 2969 2046 129.3 -12.2 87 978 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1761 2976 2976 2046 0 0 0 0 0 0 26.67 26.68 26.65 10.57 49.13

1064 -1.33 -391.0 2178 1762 2973 2046 141.3 -11.3 94 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 1762 2972 2972 2046 0 0 0 0 0 0 26.65 26.66 26.70 10.56 49.48

1149 end dive: TARGET_DEPTH_EXCEEDED

state 1149 begin apogee

1153 -0.33 0.0 2178 1761 2973 2045 151.0 -11.6 100 1181 3.38 0.00 22.58 2.109 10244 0.063 0.000 2498 1762 2518 2518 2042 0 0 0 0 0 0 26.40 25.33 23.97 10.65 49.96

1183 end apogee: CONTROL_FINISHED_OK

state 1183 begin climb

1184 1.33 391.0 2499 1761 2516 2042 154.1 0.0 104 1215 5.60 0.00 21.67 2.074 11270 0.042 0.000 3017 1762 2090 2090 2046 0 0 0 0 0 0 25.53 25.69 23.46 10.46 48.85

1276 1.45 469.2 3024 1762 2090 2046 147.8 8.7 116 1285 0.32 0.00 5.85 1.470 10246 0.036 0.000 3065 1762 2004 2004 2046 0 0 0 0 0 0 25.54 24.91 23.94 10.38 49.25

1345 1.45 469.2 3065 1762 2004 2046 140.3 11.2 123 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1762 2003 2003 2045 0 0 0 0 0 0 25.92 25.92 25.92 10.35 49.01

1405 1.45 469.2 3065 1762 2002 2045 133.7 11.0 129 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 1761 2002 2002 2044 0 0 0 0 0 0 26.17 26.13 26.12 10.35 49.56

1465 1.45 469.2 3065 1762 2001 2044 127.1 10.8 135 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 1762 2002 2002 2046 0 0 0 0 0 0 26.24 26.26 26.25 10.35 49.68

1525 1.45 469.2 3065 1762 2000 2046 120.5 11.2 141 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1764 2000 2000 2046 0 0 0 0 0 0 26.34 26.36 26.35 10.35 50.63

1585 1.45 469.2 3065 1758 1998 2046 113.8 11.1 147 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 1761 1998 1998 2055 0 0 0 0 0 0 26.42 26.44 26.41 10.35 50.39

1645 1.45 469.2 3065 1760 1997 2055 107.3 10.9 153 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 1762 2002 2002 2046 0 0 0 0 0 0 26.48 26.51 26.50 10.35 50.31

1705 1.45 469.2 3065 1762 1995 2046 100.8 11.0 159 1710 0.00 2.72 0.00 0.000 516 0.000 0.086 3065 787 1995 1995 2045 0 0 0 0 0 0 26.54 26.18 26.55 10.35 50.51

1777 1.45 469.2 3069 788 1993 2045 92.3 12.0 171 1783 0.00 2.40 0.00 0.000 1030 0.000 0.034 3075 1782 2006 2006 2046 0 0 0 0 0 0 26.41 26.41 26.44 10.33 50.51

1843 1.45 469.2 3065 1791 1993 2046 84.8 11.3 178 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 1784 1990 1990 2045 0 0 0 0 0 0 26.64 26.65 26.65 10.35 50.94

1903 1.45 469.2 3065 1791 1990 2045 78.0 11.3 184 1909 0.00 2.40 0.00 0.000 260 0.000 0.041 3065 2726 1990 1990 2046 0 0 0 0 0 0 26.67 26.35 26.68 10.32 51.33

1981 1.45 469.2 3065 2718 1988 2046 68.9 11.9 197 1986 0.00 2.47 0.00 0.000 1030 0.000 0.043 3065 1766 1988 1988 2046 0 0 0 0 0 0 26.48 26.43 26.48 10.34 51.10

2047 1.45 469.2 3065 1766 1986 2046 61.4 10.9 204 2052 0.00 2.67 0.00 0.000 516 0.000 0.086 3062 793 1986 1986 2046 0 0 0 0 0 0 26.74 26.39 26.75 10.34 51.96

2132 1.45 471.1 3063 793 1986 2046 54.0 10.0 211 2148 0.00 2.28 0.00 0.000 1030 0.000 0.036 3066 1773 1984 1984 2046 0 0 0 0 0 0 26.56 26.60 26.58 10.40 52.08

2235 1.51 510.5 3065 1772 1983 2046 44.4 9.3 218 2251 0.05 0.00 2.55 0.281 10246 0.146 0.000 3080 1773 1966 1966 2046 0 0 0 0 0 0 26.50 26.17 25.56 10.34 51.49

2337 1.51 510.5 3080 1774 1962 2046 34.2 10.3 225 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1773 1963 1963 2046 0 0 0 0 0 0 26.67 26.69 26.69 10.34 51.14

2437 1.51 510.5 3080 1776 1961 2046 23.7 10.4 232 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1774 1961 1961 2046 0 0 0 0 0 0 26.66 26.71 26.68 10.33 51.22

2539 1.51 510.5 3080 1775 1957 2046 12.7 10.7 239 2554 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 1773 1958 1958 2046 0 0 0 0 0 0 26.65 26.66 26.66 10.33 51.14

2609 1.69 626.2 3079 1773 1956 2046 5.8 8.0 246 2618 0.52 0.00 6.72 0.571 10246 0.030 0.000 3143 1773 1833 1833 2046 0 0 0 0 0 0 26.49 26.29 25.74 10.34 50.31

2667 end climb: SURFACE_DEPTH_REACHED

state 2667 begin surface coast

2697 end surface coast: CONTROL_FINISHED_OK

state 2697 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	22	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	8	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	75	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	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	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	2615	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	400	PITCH_CNV	0.00312576	FG_AHR_10V	0	SEABIRD_T_J	3.3947326e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.162049
GLIDE_SLOPE	35	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.142972
SPEED_FACTOR	1	PITCH_GAIN	15	PRESSURE_YINT	-50.894402	SEABIRD_C_I	-0.0032838252
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_SLOPE	2.5699999e-05	SEABIRD_C_J	0.00030784801
MASS	73949	PITCH_AD_RATE	70	AD7714Ch0Gain	1	SEABIRD_C_Z	2991.02
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0040000002	ROLL_MAX	3888	ALTIM_TOP_PING_RANGE	15
HD_B	0.012	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	230518,133930,4741.7778,-12225.8926,4,0.9,13,16.3,0.0,0.0,9,4.6	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067377,0.365699
_SM_DEPTHo	1.35	KALMAN_X	-5985.764648,-859.553528,176.803955,5527.860840,210.251312
_SM_ANGLEo	-55.9	KALMAN_Y	-12349.345703,-1968.687622,399.459534,11930.373047,86.530273
GPS2	230518,135359,4741.6387,-12226.0215,7,0.9,15,16.3,0.0,0.0,10,4.5	MHEAD_RNG_PITCHd_Wd	354.1,4630,-11.2,-10.000,-15.05,5957
SPEED_LIMITS	0.143,0.372	D_GRID	164

SM_CCo	2794,0.00,0.000,0,0,1831,630.68	_24V_AH	23.46,6.089
SM_GC	1.36,29.70,0.00,0.00,0.022,0.000,0.000,231,1773,1831,-7.45,-0.09,630.68,0,0,0,0,0,0,26.19,26.70,26.41	_10V_AH	10.27,6.865
IRIDIUM_FIX	4808.40,-12337.82,230518,123625	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,0.80143	FG_AHR_10Vo	0.000
HUMID	50.00	MEM	312872
INTERNAL_PRESSURE	10.2872	DATA_FILE_SIZE	7032,255
TCM_TEMP	10.10	CAP_FILE_SIZE	115161,0
XPDR_PINGS	0	CFSIZE	1023623168,1018494976
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	120.8,56.5	GPS	230518,144313,4742.137,-12225.703,8,1.0,53,16.3,0.3,200.9,8,3.0
SC_FREEKB	3897472

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	63	146	217.07	nil	0	0	0.00
Roll_motor	20	178	83.63	nil	0	0	0.00
VBD_pump_during_apogee	59	2109	2937.85	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	49	103	119.79	nil	0	0	0.00
Iridium_during_connect	33	160	125.85	SciCon	2723	69	4465.71
Iridium_during_xfer	602	223	3154.05	nil	0	0	0.00
Transponder_ping	150	420	1480.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.60
TT8	287	19	58.41
LPSleep	1170	2	26.33
TT8_Active	141	19	28.73
TT8_Sampling	2009	39	821.31
TT8_CF8	75	45	35.28
TT8_Kalman	33	81	28.09
Analog_circuits	519	12	64.07
GPS_charging	0	0	0.00
Compass	377	5	19.39
RAFOS	0	0	0.00
Transponder	1487	30	458.15

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	-1.33	-391.0	237	1779	1766	2046	0.0	0.0	0	21	0.00	0.00	-9.18	0.000	16390	0.000	0.000	232	1778	2941	2941	2052	0	0	0	0	0	0	26.35	25.25	26.36	10.38	49.64
23	-1.33	-391.0	232	1778	2947	2052	1.7	0.0	1	50	23.75	0.00	0.00	0.000	2054	0.120	0.000	2177	1777	2946	2946	2049	0	0	0	0	0	0	25.97	26.12	26.11	10.63	49.64
111	-1.33	-391.0	2178	1777	2948	2049	23.2	-13.7	10	113	0.00	0.00	0.00	0.000	6	0.000	0.000	2186	1777	2948	2948	2046	0	0	0	0	0	0	26.44	26.45	26.44	10.60	49.13
171	-1.33	-391.0	2178	1778	2950	2046	30.6	-12.8	16	173	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1777	2950	2950	2046	0	0	0	0	0	0	26.50	26.51	26.51	10.59	49.44
231	-1.33	-391.0	2178	1777	2950	2046	37.1	-11.2	22	233	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1777	2951	2951	2046	0	0	0	0	0	0	26.56	26.57	26.57	10.58	49.01
291	-1.33	-391.0	2178	1777	2956	2046	44.4	-13.0	28	293	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	1777	2952	2952	2046	0	0	0	0	0	0	26.60	26.62	26.64	10.59	49.25
352	-1.33	-391.0	2178	1777	2954	2046	52.2	-12.7	34	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1777	2955	2955	2046	0	0	0	0	0	0	26.65	26.66	26.66	10.59	49.60
412	-1.33	-391.0	2178	1777	2960	2046	59.6	-12.3	40	417	0.00	2.70	0.00	0.000	516	0.000	0.083	2179	792	2955	2955	2046	0	0	0	0	0	0	26.67	26.32	26.70	10.58	49.40
491	-1.33	-391.0	2178	792	2957	2046	70.6	-14.8	53	495	0.00	2.30	0.00	0.000	1030	0.000	0.034	2184	1754	2959	2959	2045	0	0	0	0	0	0	26.55	26.51	26.56	10.57	49.72
556	-1.33	-391.0	2178	1761	2961	2045	79.0	-12.3	60	557	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1758	2960	2960	2046	0	0	0	0	0	0	26.75	26.77	26.77	10.58	49.76
647	-1.33	-391.0	2175	1761	2962	2046	89.2	-13.1	66	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1761	2962	2962	2046	0	0	0	0	0	0	26.71	26.74	26.73	10.57	49.96
749	-1.33	-391.0	2178	1762	2964	2046	102.8	-13.3	73	763	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1761	2965	2965	2046	0	0	0	0	0	0	26.72	26.74	26.72	10.58	49.92
849	-1.33	-391.0	2178	1761	2968	2046	115.3	-12.0	80	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1761	2967	2967	2046	0	0	0	0	0	0	26.74	26.74	26.70	10.56	49.88
963	-1.33	-391.0	2178	1762	2969	2046	129.3	-12.2	87	978	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1761	2976	2976	2046	0	0	0	0	0	0	26.67	26.68	26.65	10.57	49.13
1064	-1.33	-391.0	2178	1762	2973	2046	141.3	-11.3	94	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	1762	2972	2972	2046	0	0	0	0	0	0	26.65	26.66	26.70	10.56	49.48
1149	end dive: TARGET_DEPTH_EXCEEDED
state	1149	begin apogee
1153	-0.33	0.0	2178	1761	2973	2045	151.0	-11.6	100	1181	3.38	0.00	22.58	2.109	10244	0.063	0.000	2498	1762	2518	2518	2042	0	0	0	0	0	0	26.40	25.33	23.97	10.65	49.96
1183	end apogee: CONTROL_FINISHED_OK
state	1183	begin climb
1184	1.33	391.0	2499	1761	2516	2042	154.1	0.0	104	1215	5.60	0.00	21.67	2.074	11270	0.042	0.000	3017	1762	2090	2090	2046	0	0	0	0	0	0	25.53	25.69	23.46	10.46	48.85
1276	1.45	469.2	3024	1762	2090	2046	147.8	8.7	116	1285	0.32	0.00	5.85	1.470	10246	0.036	0.000	3065	1762	2004	2004	2046	0	0	0	0	0	0	25.54	24.91	23.94	10.38	49.25
1345	1.45	469.2	3065	1762	2004	2046	140.3	11.2	123	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1762	2003	2003	2045	0	0	0	0	0	0	25.92	25.92	25.92	10.35	49.01
1405	1.45	469.2	3065	1762	2002	2045	133.7	11.0	129	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	1761	2002	2002	2044	0	0	0	0	0	0	26.17	26.13	26.12	10.35	49.56
1465	1.45	469.2	3065	1762	2001	2044	127.1	10.8	135	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	1762	2002	2002	2046	0	0	0	0	0	0	26.24	26.26	26.25	10.35	49.68
1525	1.45	469.2	3065	1762	2000	2046	120.5	11.2	141	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1764	2000	2000	2046	0	0	0	0	0	0	26.34	26.36	26.35	10.35	50.63
1585	1.45	469.2	3065	1758	1998	2046	113.8	11.1	147	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	1761	1998	1998	2055	0	0	0	0	0	0	26.42	26.44	26.41	10.35	50.39
1645	1.45	469.2	3065	1760	1997	2055	107.3	10.9	153	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	1762	2002	2002	2046	0	0	0	0	0	0	26.48	26.51	26.50	10.35	50.31
1705	1.45	469.2	3065	1762	1995	2046	100.8	11.0	159	1710	0.00	2.72	0.00	0.000	516	0.000	0.086	3065	787	1995	1995	2045	0	0	0	0	0	0	26.54	26.18	26.55	10.35	50.51
1777	1.45	469.2	3069	788	1993	2045	92.3	12.0	171	1783	0.00	2.40	0.00	0.000	1030	0.000	0.034	3075	1782	2006	2006	2046	0	0	0	0	0	0	26.41	26.41	26.44	10.33	50.51
1843	1.45	469.2	3065	1791	1993	2046	84.8	11.3	178	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	1784	1990	1990	2045	0	0	0	0	0	0	26.64	26.65	26.65	10.35	50.94
1903	1.45	469.2	3065	1791	1990	2045	78.0	11.3	184	1909	0.00	2.40	0.00	0.000	260	0.000	0.041	3065	2726	1990	1990	2046	0	0	0	0	0	0	26.67	26.35	26.68	10.32	51.33
1981	1.45	469.2	3065	2718	1988	2046	68.9	11.9	197	1986	0.00	2.47	0.00	0.000	1030	0.000	0.043	3065	1766	1988	1988	2046	0	0	0	0	0	0	26.48	26.43	26.48	10.34	51.10
2047	1.45	469.2	3065	1766	1986	2046	61.4	10.9	204	2052	0.00	2.67	0.00	0.000	516	0.000	0.086	3062	793	1986	1986	2046	0	0	0	0	0	0	26.74	26.39	26.75	10.34	51.96
2132	1.45	471.1	3063	793	1986	2046	54.0	10.0	211	2148	0.00	2.28	0.00	0.000	1030	0.000	0.036	3066	1773	1984	1984	2046	0	0	0	0	0	0	26.56	26.60	26.58	10.40	52.08
2235	1.51	510.5	3065	1772	1983	2046	44.4	9.3	218	2251	0.05	0.00	2.55	0.281	10246	0.146	0.000	3080	1773	1966	1966	2046	0	0	0	0	0	0	26.50	26.17	25.56	10.34	51.49
2337	1.51	510.5	3080	1774	1962	2046	34.2	10.3	225	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1773	1963	1963	2046	0	0	0	0	0	0	26.67	26.69	26.69	10.34	51.14
2437	1.51	510.5	3080	1776	1961	2046	23.7	10.4	232	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1774	1961	1961	2046	0	0	0	0	0	0	26.66	26.71	26.68	10.33	51.22
2539	1.51	510.5	3080	1775	1957	2046	12.7	10.7	239	2554	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	1773	1958	1958	2046	0	0	0	0	0	0	26.65	26.66	26.66	10.33	51.14
2609	1.69	626.2	3079	1773	1956	2046	5.8	8.0	246	2618	0.52	0.00	6.72	0.571	10246	0.030	0.000	3143	1773	1833	1833	2046	0	0	0	0	0	0	26.49	26.29	25.74	10.34	50.31
2667	end climb: SURFACE_DEPTH_REACHED
state	2667	begin surface coast
2697	end surface coast: CONTROL_FINISHED_OK
state	2697	begin surface