Glider dive log

Shilshole 14Mar17 * SG401 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0168193 ROLL_DEG 60 ALTIM_TOP_PING_RANGE 20

MISSION 19 HD_C 5.8179498e-06 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 23 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 16 ALTIM_FREQUENCY 11

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 30 ALTIM_PULSE 1

D_ABORT 200 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2082 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0016 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2530 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 175 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 12 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.554909 SEABIRD_C_H 1.1284475

MASS 73414 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE -10236

HD_A 0.00357857 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0016 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00357857 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.0168193 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.8179498e-06 PRESSURE_YINT -50.554909 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 20 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE -10236 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2530 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2082 MASS 73414 ROLL_DEG 60 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 115 MINV_10V 8 R_PORT_OVSHOOT 16 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE5 151 MISSION 19 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 23 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 200 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150317,121917,4742.5303,-12224.8672,20,0.8,31,16.3,0.0,0.0,10,4.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.153817,0.158003

_SM_DEPTHo 1.98 KALMAN_X 99.193451,-35.645744,-123.353600,-176.947220,-466.681030

_SM_ANGLEo -57.8 KALMAN_Y 551.705322,188.224640,-259.870605,-3020.259521,-588.622314

GPS2 150317,122358,4742.4805,-12224.9033,4,0.8,15,16.3,0.0,0.0,10,4.5 MHEAD_RNG_PITCHd_Wd 27.9,2817,-19.9,-10.000,-24.39,2610

SPEED_LIMITS 0.100,0.221 D_GRID 169

Post-dive calculations and measurements:

FINISH 0.3,1.001330 _24V_AH 23.46,5.287

SM_CCo 2127,0.00,0.000,0,0,1671,352.88 _10V_AH 9.33,6.489

SM_GC 1.78,30.60,3.28,0.00,0.028,0.034,0.000,243,1900,1671,-7.14,-1.50,352.88,0,0,0,0,0,0,26.36,26.39,26.41 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,150317,113551 FG_AHR_10Vo 0.000

TT8_MAMPS 0.05243,0.250915 MEM 322256

HUMID 34.64 DATA_FILE_SIZE 17725,182

INTERNAL_PRESSURE 10.1114 CAP_FILE_SIZE 46181,4

TCM_TEMP 7.40 CFSIZE 1024409600,1017987072

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

ALTIM_TOP_PING 18.8,4.6 GPS 150317,130049,4742.507,-12224.820,2,0.9,24,16.3,0.0,0.0,9,5.0

ALTIM_BOTTOM_PING 101.6,2.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 65 127 196.16 SBE_CT 122 24 68.95

Roll_motor 48 78 88.87 AA4330 233 33 180.76

VBD_pump_during_apogee 38 1969 1781.98 WL_blue_red_Chl 391 105 963.61

VBD_pump_during_surface 0 0 0.00 SAT1000 951 17 397.47

VBD_valve 0 0 0.00 SAT1001 1677 17 700.47

Iridium_during_init 23 103 56.86 nil 0 0 0.00

Iridium_during_connect 30 160 114.20 nil 0 0 0.00

Iridium_during_xfer 162 223 847.96 nil 0 0 0.00

Transponder_ping 1 420 9.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.69

TT8 0 0 0.00

LPSleep 61 2 1.25

TT8_Active 250 19 46.23

TT8_Sampling 1997 39 741.73

TT8_CF8 102 45 43.86

TT8_Kalman 33 81 25.68

Analog_circuits 674 12 75.55

GPS_charging 0 0 0.00

Compass 1713 15 239.75

RAFOS 0 0 0.00

Transponder 7 30 2.00

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -1.93 -171.1 243 1877 1729 4095 0.0 0.0 0 31 0.00 0.00 -3.90 0.000 16390 0.000 0.000 242 1877 2288 2288 4094 0 0 0 0 0 0 26.41 24.73 26.41 10.23 35.43

33 -1.93 -171.1 243 1877 2289 4095 2.1 0.0 1 66 20.88 3.55 0.00 0.000 2564 0.128 0.069 1901 591 2290 2290 4094 0 0 0 0 0 0 25.65 25.66 25.73 10.36 35.58

165 -1.93 -171.1 1902 592 2296 4095 32.9 -19.4 13 179 0.00 3.30 0.00 0.000 1030 0.000 0.034 1902 1892 2295 2295 4094 0 0 0 0 0 0 26.01 25.98 26.05 10.36 35.43

230 -1.93 -171.1 1902 1893 2298 4094 44.0 -16.4 19 244 0.00 3.62 0.00 0.000 260 0.000 0.071 1902 3205 2297 2297 4094 0 0 0 0 0 0 26.35 25.89 26.36 10.36 35.74

265 -1.93 -171.1 1902 3205 2298 4095 49.8 -16.0 22 280 0.00 3.30 0.00 0.000 1030 0.000 0.031 1902 1918 2299 2299 4094 0 0 0 0 0 0 26.10 26.06 26.13 10.37 35.98

330 -1.93 -171.1 1901 1919 2301 4094 60.4 -16.3 28 344 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1919 2301 2301 4094 0 0 0 0 0 0 26.43 26.45 26.44 10.37 35.74

394 -1.93 -171.1 1902 1918 2303 4095 71.5 -16.9 34 408 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2304 2304 4094 0 0 0 0 0 0 26.48 26.49 26.49 10.37 34.83

458 -1.93 -171.1 1902 1918 2306 4095 81.7 -15.8 40 476 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2306 2306 4094 0 0 0 0 0 0 26.51 26.53 26.53 10.37 34.80

526 -1.93 -171.1 1902 1919 2308 4095 92.5 -16.5 46 540 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2308 2308 4094 0 0 0 0 0 0 26.55 26.57 26.57 10.37 35.70

593 -1.93 -171.1 1902 1918 2310 4095 103.7 -16.8 52 606 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2310 2310 4094 0 0 0 0 0 0 26.58 26.60 26.60 10.37 35.07

657 -1.93 -171.1 1902 1920 2313 4094 114.1 -17.4 58 670 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2312 2312 4094 0 0 0 0 0 0 26.61 26.63 26.63 10.37 34.87

721 -1.93 -171.1 1902 1919 2316 4094 124.6 -16.2 64 734 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2315 2315 4094 0 0 0 0 0 0 26.64 26.65 26.65 10.37 35.07

785 -1.93 -171.1 1902 1918 2317 4095 135.5 -16.8 70 799 0.00 0.00 0.00 0.000 6 0.000 0.000 1902 1918 2317 2317 4094 0 0 0 0 0 0 26.66 26.67 26.67 10.37 34.99

849 -1.93 -171.1 1902 1920 2321 4094 146.3 -17.1 76 863 0.00 0.00 0.00 0.000 6 0.000 0.000 1901 1918 2320 2320 4094 0 0 0 0 0 0 26.68 26.70 26.70 10.37 35.19

873 end dive: TARGET_DEPTH_EXCEEDED

state 873 begin apogee

876 -0.42 0.0 1902 1919 2321 4094 151.2 -18.4 78 905 5.43 0.00 13.80 1.969 10244 0.079 0.000 2385 1918 2082 2082 4094 0 0 0 0 0 0 26.28 25.01 23.84 10.38 35.54

906 end apogee: CONTROL_FINISHED_OK

state 906 begin climb

907 1.93 171.1 2385 1918 2083 4095 155.5 0.0 80 936 7.90 0.00 12.07 1.925 11270 0.037 0.000 3132 1918 1881 1881 4094 0 0 0 0 0 0 25.89 26.06 23.46 10.33 34.76

986 2.13 294.5 3132 1918 1882 4095 153.8 5.2 87 1001 0.57 0.00 9.10 1.776 10246 0.038 0.000 3192 1918 1738 1738 4094 0 0 0 0 0 0 25.70 24.97 23.46 10.28 34.68

1052 2.17 322.6 3193 1919 1738 4094 148.9 8.9 93 1067 0.08 0.00 3.60 0.994 10246 0.093 0.000 3207 1918 1705 1705 4094 0 0 0 0 0 0 25.68 24.82 23.68 10.26 34.87

1117 2.17 322.6 3207 1919 1705 4094 141.6 11.6 99 1132 0.00 3.55 0.00 0.000 260 0.000 0.062 3207 3201 1703 1703 4094 0 0 0 0 0 0 26.02 25.63 26.03 10.25 35.43

1153 2.17 322.6 3207 3201 1704 4094 136.4 14.3 102 1168 0.00 3.38 0.00 0.000 1030 0.000 0.034 3208 1910 1702 1702 4094 0 0 0 0 0 0 25.83 25.77 25.86 10.25 34.91

1218 2.17 322.6 3208 1909 1702 4095 126.5 14.9 108 1232 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 1909 1700 1700 4094 0 0 0 0 0 0 26.20 26.22 26.22 10.24 34.87

1282 2.17 322.6 3207 1910 1699 4094 116.8 15.4 114 1297 0.00 3.65 0.00 0.000 516 0.000 0.079 3207 592 1697 1697 4094 0 0 0 0 0 0 26.28 25.82 26.29 10.24 34.80

1366 2.17 322.6 3207 592 1696 4094 102.4 17.7 122 1381 0.00 3.30 0.00 0.000 1030 0.000 0.031 3207 1905 1694 1694 4094 0 0 0 0 0 0 26.11 26.08 26.14 10.24 34.95

1431 2.17 322.6 3208 1905 1693 4095 92.0 16.1 128 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 1905 1692 1692 4094 0 0 0 0 0 0 26.41 26.44 26.43 10.24 35.31

1495 2.17 322.6 3208 1908 1691 4095 81.7 16.1 134 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 3208 1908 1690 1690 4094 0 0 0 0 0 0 26.46 26.48 26.48 10.23 34.95

1563 2.17 322.6 3208 1907 1688 4095 71.2 15.2 140 1577 0.00 3.47 0.00 0.000 260 0.000 0.063 3207 3194 1687 1687 4094 0 0 1 0 0 0 26.51 26.06 26.52 10.24 35.66

1599 2.17 322.6 3208 3194 1687 4095 65.3 16.0 143 1613 0.00 3.35 0.00 0.000 1030 0.000 0.033 3208 1889 1685 1685 4094 0 0 0 0 0 0 26.23 26.18 26.26 10.24 34.91

1664 2.17 322.6 3208 1888 1684 4095 54.8 16.0 149 1677 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 1889 1683 1683 4094 0 0 0 0 0 0 26.55 26.57 26.57 10.24 35.23

1728 2.17 322.6 3208 1888 1682 4095 44.5 16.1 155 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 1888 1681 1681 4094 0 0 0 0 0 0 26.58 26.60 26.60 10.23 35.31

1795 2.17 322.6 3208 1889 1679 4095 33.7 16.1 161 1809 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 1889 1678 1678 4094 0 0 0 0 0 0 26.61 26.63 26.63 10.23 34.99

1859 2.17 322.6 3208 1889 1678 4095 24.4 13.8 167 1874 0.00 3.55 0.00 0.000 516 0.000 0.079 3208 590 1677 1677 4094 0 0 0 0 0 0 26.64 26.15 26.65 10.23 35.62

1908 2.17 322.6 3208 590 1675 4095 17.1 15.6 171 1922 0.00 3.22 0.00 0.000 1030 0.000 0.031 3207 1892 1674 1674 4094 0 0 0 0 0 0 26.38 26.36 26.42 10.22 35.70

1973 2.17 322.6 3208 1896 1673 4094 6.9 15.1 177 1987 0.00 3.55 0.00 0.000 516 0.000 0.079 3208 599 1672 1672 4094 0 0 0 0 0 0 26.67 26.17 26.67 10.22 35.03

2008 end climb: SURFACE_DEPTH_REACHED

state 2008 begin surface coast

2028 end surface coast: CONTROL_FINISHED_OK

state 2028 begin surface

ID	401	HD_B	0.0168193	ROLL_DEG	60	ALTIM_TOP_PING_RANGE	20
MISSION	19	HD_C	5.8179498e-06	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	23	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	16	ALTIM_FREQUENCY	11
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	30	ALTIM_PULSE	1
D_ABORT	200	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2082	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0016	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2530	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	175	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	12	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.554909	SEABIRD_C_H	1.1284475
MASS	73414	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	-10236
HD_A	0.00357857	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150317,121917,4742.5303,-12224.8672,20,0.8,31,16.3,0.0,0.0,10,4.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.153817,0.158003
_SM_DEPTHo	1.98	KALMAN_X	99.193451,-35.645744,-123.353600,-176.947220,-466.681030
_SM_ANGLEo	-57.8	KALMAN_Y	551.705322,188.224640,-259.870605,-3020.259521,-588.622314
GPS2	150317,122358,4742.4805,-12224.9033,4,0.8,15,16.3,0.0,0.0,10,4.5	MHEAD_RNG_PITCHd_Wd	27.9,2817,-19.9,-10.000,-24.39,2610
SPEED_LIMITS	0.100,0.221	D_GRID	169

FINISH	0.3,1.001330	_24V_AH	23.46,5.287
SM_CCo	2127,0.00,0.000,0,0,1671,352.88	_10V_AH	9.33,6.489
SM_GC	1.78,30.60,3.28,0.00,0.028,0.034,0.000,243,1900,1671,-7.14,-1.50,352.88,0,0,0,0,0,0,26.36,26.39,26.41	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,150317,113551	FG_AHR_10Vo	0.000
TT8_MAMPS	0.05243,0.250915	MEM	322256
HUMID	34.64	DATA_FILE_SIZE	17725,182
INTERNAL_PRESSURE	10.1114	CAP_FILE_SIZE	46181,4
TCM_TEMP	7.40	CFSIZE	1024409600,1017987072
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
ALTIM_TOP_PING	18.8,4.6	GPS	150317,130049,4742.507,-12224.820,2,0.9,24,16.3,0.0,0.0,9,5.0
ALTIM_BOTTOM_PING	101.6,2.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	65	127	196.16	SBE_CT	122	24	68.95
Roll_motor	48	78	88.87	AA4330	233	33	180.76
VBD_pump_during_apogee	38	1969	1781.98	WL_blue_red_Chl	391	105	963.61
VBD_pump_during_surface	0	0	0.00	SAT1000	951	17	397.47
VBD_valve	0	0	0.00	SAT1001	1677	17	700.47
Iridium_during_init	23	103	56.86	nil	0	0	0.00
Iridium_during_connect	30	160	114.20	nil	0	0	0.00
Iridium_during_xfer	162	223	847.96	nil	0	0	0.00
Transponder_ping	1	420	9.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.69
TT8	0	0	0.00
LPSleep	61	2	1.25
TT8_Active	250	19	46.23
TT8_Sampling	1997	39	741.73
TT8_CF8	102	45	43.86
TT8_Kalman	33	81	25.68
Analog_circuits	674	12	75.55
GPS_charging	0	0	0.00
Compass	1713	15	239.75
RAFOS	0	0	0.00
Transponder	7	30	2.00

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-1.93	-171.1	243	1877	1729	4095	0.0	0.0	0	31	0.00	0.00	-3.90	0.000	16390	0.000	0.000	242	1877	2288	2288	4094	0	0	0	0	0	0	26.41	24.73	26.41	10.23	35.43
33	-1.93	-171.1	243	1877	2289	4095	2.1	0.0	1	66	20.88	3.55	0.00	0.000	2564	0.128	0.069	1901	591	2290	2290	4094	0	0	0	0	0	0	25.65	25.66	25.73	10.36	35.58
165	-1.93	-171.1	1902	592	2296	4095	32.9	-19.4	13	179	0.00	3.30	0.00	0.000	1030	0.000	0.034	1902	1892	2295	2295	4094	0	0	0	0	0	0	26.01	25.98	26.05	10.36	35.43
230	-1.93	-171.1	1902	1893	2298	4094	44.0	-16.4	19	244	0.00	3.62	0.00	0.000	260	0.000	0.071	1902	3205	2297	2297	4094	0	0	0	0	0	0	26.35	25.89	26.36	10.36	35.74
265	-1.93	-171.1	1902	3205	2298	4095	49.8	-16.0	22	280	0.00	3.30	0.00	0.000	1030	0.000	0.031	1902	1918	2299	2299	4094	0	0	0	0	0	0	26.10	26.06	26.13	10.37	35.98
330	-1.93	-171.1	1901	1919	2301	4094	60.4	-16.3	28	344	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1919	2301	2301	4094	0	0	0	0	0	0	26.43	26.45	26.44	10.37	35.74
394	-1.93	-171.1	1902	1918	2303	4095	71.5	-16.9	34	408	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2304	2304	4094	0	0	0	0	0	0	26.48	26.49	26.49	10.37	34.83
458	-1.93	-171.1	1902	1918	2306	4095	81.7	-15.8	40	476	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2306	2306	4094	0	0	0	0	0	0	26.51	26.53	26.53	10.37	34.80
526	-1.93	-171.1	1902	1919	2308	4095	92.5	-16.5	46	540	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2308	2308	4094	0	0	0	0	0	0	26.55	26.57	26.57	10.37	35.70
593	-1.93	-171.1	1902	1918	2310	4095	103.7	-16.8	52	606	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2310	2310	4094	0	0	0	0	0	0	26.58	26.60	26.60	10.37	35.07
657	-1.93	-171.1	1902	1920	2313	4094	114.1	-17.4	58	670	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2312	2312	4094	0	0	0	0	0	0	26.61	26.63	26.63	10.37	34.87
721	-1.93	-171.1	1902	1919	2316	4094	124.6	-16.2	64	734	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2315	2315	4094	0	0	0	0	0	0	26.64	26.65	26.65	10.37	35.07
785	-1.93	-171.1	1902	1918	2317	4095	135.5	-16.8	70	799	0.00	0.00	0.00	0.000	6	0.000	0.000	1902	1918	2317	2317	4094	0	0	0	0	0	0	26.66	26.67	26.67	10.37	34.99
849	-1.93	-171.1	1902	1920	2321	4094	146.3	-17.1	76	863	0.00	0.00	0.00	0.000	6	0.000	0.000	1901	1918	2320	2320	4094	0	0	0	0	0	0	26.68	26.70	26.70	10.37	35.19
873	end dive: TARGET_DEPTH_EXCEEDED
state	873	begin apogee
876	-0.42	0.0	1902	1919	2321	4094	151.2	-18.4	78	905	5.43	0.00	13.80	1.969	10244	0.079	0.000	2385	1918	2082	2082	4094	0	0	0	0	0	0	26.28	25.01	23.84	10.38	35.54
906	end apogee: CONTROL_FINISHED_OK
state	906	begin climb
907	1.93	171.1	2385	1918	2083	4095	155.5	0.0	80	936	7.90	0.00	12.07	1.925	11270	0.037	0.000	3132	1918	1881	1881	4094	0	0	0	0	0	0	25.89	26.06	23.46	10.33	34.76
986	2.13	294.5	3132	1918	1882	4095	153.8	5.2	87	1001	0.57	0.00	9.10	1.776	10246	0.038	0.000	3192	1918	1738	1738	4094	0	0	0	0	0	0	25.70	24.97	23.46	10.28	34.68
1052	2.17	322.6	3193	1919	1738	4094	148.9	8.9	93	1067	0.08	0.00	3.60	0.994	10246	0.093	0.000	3207	1918	1705	1705	4094	0	0	0	0	0	0	25.68	24.82	23.68	10.26	34.87
1117	2.17	322.6	3207	1919	1705	4094	141.6	11.6	99	1132	0.00	3.55	0.00	0.000	260	0.000	0.062	3207	3201	1703	1703	4094	0	0	0	0	0	0	26.02	25.63	26.03	10.25	35.43
1153	2.17	322.6	3207	3201	1704	4094	136.4	14.3	102	1168	0.00	3.38	0.00	0.000	1030	0.000	0.034	3208	1910	1702	1702	4094	0	0	0	0	0	0	25.83	25.77	25.86	10.25	34.91
1218	2.17	322.6	3208	1909	1702	4095	126.5	14.9	108	1232	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	1909	1700	1700	4094	0	0	0	0	0	0	26.20	26.22	26.22	10.24	34.87
1282	2.17	322.6	3207	1910	1699	4094	116.8	15.4	114	1297	0.00	3.65	0.00	0.000	516	0.000	0.079	3207	592	1697	1697	4094	0	0	0	0	0	0	26.28	25.82	26.29	10.24	34.80
1366	2.17	322.6	3207	592	1696	4094	102.4	17.7	122	1381	0.00	3.30	0.00	0.000	1030	0.000	0.031	3207	1905	1694	1694	4094	0	0	0	0	0	0	26.11	26.08	26.14	10.24	34.95
1431	2.17	322.6	3208	1905	1693	4095	92.0	16.1	128	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	1905	1692	1692	4094	0	0	0	0	0	0	26.41	26.44	26.43	10.24	35.31
1495	2.17	322.6	3208	1908	1691	4095	81.7	16.1	134	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	3208	1908	1690	1690	4094	0	0	0	0	0	0	26.46	26.48	26.48	10.23	34.95
1563	2.17	322.6	3208	1907	1688	4095	71.2	15.2	140	1577	0.00	3.47	0.00	0.000	260	0.000	0.063	3207	3194	1687	1687	4094	0	0	1	0	0	0	26.51	26.06	26.52	10.24	35.66
1599	2.17	322.6	3208	3194	1687	4095	65.3	16.0	143	1613	0.00	3.35	0.00	0.000	1030	0.000	0.033	3208	1889	1685	1685	4094	0	0	0	0	0	0	26.23	26.18	26.26	10.24	34.91
1664	2.17	322.6	3208	1888	1684	4095	54.8	16.0	149	1677	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	1889	1683	1683	4094	0	0	0	0	0	0	26.55	26.57	26.57	10.24	35.23
1728	2.17	322.6	3208	1888	1682	4095	44.5	16.1	155	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	1888	1681	1681	4094	0	0	0	0	0	0	26.58	26.60	26.60	10.23	35.31
1795	2.17	322.6	3208	1889	1679	4095	33.7	16.1	161	1809	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	1889	1678	1678	4094	0	0	0	0	0	0	26.61	26.63	26.63	10.23	34.99
1859	2.17	322.6	3208	1889	1678	4095	24.4	13.8	167	1874	0.00	3.55	0.00	0.000	516	0.000	0.079	3208	590	1677	1677	4094	0	0	0	0	0	0	26.64	26.15	26.65	10.23	35.62
1908	2.17	322.6	3208	590	1675	4095	17.1	15.6	171	1922	0.00	3.22	0.00	0.000	1030	0.000	0.031	3207	1892	1674	1674	4094	0	0	0	0	0	0	26.38	26.36	26.42	10.22	35.70
1973	2.17	322.6	3208	1896	1673	4094	6.9	15.1	177	1987	0.00	3.55	0.00	0.000	516	0.000	0.079	3208	599	1672	1672	4094	0	0	0	0	0	0	26.67	26.17	26.67	10.22	35.03
2008	end climb: SURFACE_DEPTH_REACHED
state	2008	begin surface coast
2028	end surface coast: CONTROL_FINISHED_OK
state	2028	begin surface