Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 1990 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 24 HEADING -1 C_ROLL_CLIMB 1990 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 19 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 17 ALTIM_PULSE 1

D_ABORT 220 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 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 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 0

D_SAFE 0 PROTOCOL 9 C_VBD 2520 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 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 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 2479 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 600 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 15 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.917877 SEABIRD_C_H 1.1284475

MASS 74087 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 4

HD_A 0.0020000001 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 13 FERRY_MAX 45 PITCH_GAIN 15 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 15 PITCH_VBD_SHIFT 0.0020000001 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 0.0020000001 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.017689999 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PRESSURE_YINT -50.917877 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 4 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2479 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1990 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2520 MASS 74087 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 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 600 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE5 151 MISSION 18 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 24 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 220 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 240217,151728,4744.1626,-12224.7812,2,0.9,15,16.3,1.0,2.6,10,5.0 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056890,-0.368844

_SM_DEPTHo 1.96 KALMAN_X -927.632202,-110.248375,188.346817,1043.116333,69.477478

_SM_ANGLEo -64.9 KALMAN_Y 752.861877,-286.542816,204.571243,2605.902588,240.227020

GPS2 240217,152151,4744.2217,-12224.7754,5,0.8,15,16.3,0.0,0.0,11,4.5 MHEAD_RNG_PITCHd_Wd 172.5,411,-2.0,-10.000,-15.00,9491

SPEED_LIMITS 0.373,0.383 D_GRID 176

Post-dive calculations and measurements:

FINISH 0.2,1.013538 _24V_AH 23.16,4.142

SM_CCo 2859,0.00,0.000,0,0,1032,1277.60 _10V_AH 9.53,4.480

SM_GC 1.01,32.10,0.00,0.00,0.027,0.000,0.000,232,1996,1032,-7.02,0.27,1277.60,0,0,0,0,0,0,25.83,26.47,26.13 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,240217,142218 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.223202 MEM 322244

HUMID 30.42 DATA_FILE_SIZE 17752,214

INTERNAL_PRESSURE 9.10547 CAP_FILE_SIZE 61147,1

TCM_TEMP 7.00 CFSIZE 1024409600,1016987648

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

ALTIM_TOP_PING 19.1,5.3 GPS 240217,161201,4744.107,-12224.732,3,1.0,38,16.3,0.0,0.0,9,4.3

ALTIM_BOTTOM_PING 101.6,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 68 135 214.42 SBE_CT 142 24 79.27

Roll_motor 107 74 186.57 AA4330 274 33 209.52

VBD_pump_during_apogee 114 2159 5719.35 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 1112 17 458.80

VBD_valve 0 0 0.00 SAT1001 1965 17 810.29

Iridium_during_init 24 103 57.86 nil 0 0 0.00

Iridium_during_connect 17 160 66.48 nil 0 0 0.00

Iridium_during_xfer 143 223 739.91 nil 0 0 0.00

Transponder_ping 0 420 7.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.98

TT8 622 19 117.43

LPSleep 60 2 1.25

TT8_Active 238 19 44.95

TT8_Sampling 2204 39 836.16

TT8_CF8 39 45 17.24

TT8_Kalman 33 81 26.07

Analog_circuits 893 12 102.16

GPS_charging 0 0 0.00

Compass 359 15 51.46

RAFOS 0 0 0.00

Transponder 7 30 2.05

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.31 -586.5 242 1985 2001 4094 0.0 0.0 0 32 0.00 0.00 -7.38 0.000 16390 0.000 0.000 242 1985 3210 3210 4095 0 0 0 0 0 0 26.50 25.70 26.51 9.35 31.13

34 -1.31 -586.5 241 1985 3210 4094 2.0 0.0 1 64 22.88 2.58 0.00 0.000 2564 0.135 0.060 2043 1012 3214 3214 4094 0 0 0 0 0 0 25.86 25.90 25.95 9.59 31.57

101 -1.31 -586.5 2043 1012 3215 4094 33.0 -45.5 6 115 0.00 2.47 0.00 0.000 1030 0.000 0.034 2043 1985 3215 3215 4095 0 0 0 0 0 0 26.07 26.01 26.12 9.60 31.41

175 -1.31 -586.5 2043 1985 3216 4095 39.8 -9.6 12 190 0.00 2.67 0.00 0.000 260 0.000 0.069 2043 2965 3216 3216 4094 0 0 0 0 0 0 26.39 26.01 26.41 9.60 31.13

227 -1.31 -586.5 2043 2965 3217 4094 44.9 -9.9 16 242 0.00 2.47 0.00 0.000 1030 0.000 0.033 2043 1995 3217 3217 4095 0 0 0 0 0 0 26.18 26.13 26.22 9.60 31.25

302 -1.31 -586.5 2043 1996 3219 4094 52.8 -10.7 22 316 0.00 2.62 0.00 0.000 516 0.000 0.068 2043 1017 3218 3218 4094 0 0 0 0 0 0 26.48 26.10 26.50 9.60 31.61

330 -1.31 -586.5 2043 1017 3219 4094 56.1 -11.2 24 345 0.00 2.45 0.00 0.000 1030 0.000 0.034 2043 1987 3219 3219 4095 0 0 0 0 0 0 26.25 26.20 26.27 9.60 31.49

405 -1.31 -586.5 2042 1987 3220 4095 63.9 -10.8 30 419 0.00 2.65 0.00 0.000 260 0.000 0.072 2043 2959 3221 3221 4095 0 0 0 0 0 0 26.55 26.15 26.55 9.60 30.90

468 -1.31 -586.5 2043 2959 3221 4094 70.3 -9.9 35 483 0.00 2.45 0.00 0.000 1030 0.000 0.032 2043 1993 3222 3222 4095 0 0 0 0 0 0 26.32 26.27 26.36 9.60 31.21

543 -1.31 -586.5 2043 1992 3223 4094 78.2 -10.9 41 558 0.00 2.60 0.00 0.000 516 0.000 0.067 2043 1017 3223 3223 4094 0 0 0 0 0 0 26.60 26.22 26.62 9.60 31.25

583 -1.31 -586.5 2043 1017 3224 4094 82.7 -11.2 44 597 0.00 2.42 0.00 0.000 1030 0.000 0.034 2043 1985 3224 3224 4094 0 0 0 0 0 0 26.37 26.32 26.39 9.61 30.98

657 -1.31 -586.5 2043 1985 3225 4094 90.8 -11.1 50 672 0.00 2.65 0.00 0.000 260 0.000 0.071 2043 2960 3226 3226 4095 0 0 0 0 0 0 26.65 26.26 26.66 9.61 30.86

733 -1.31 -586.5 2042 2960 3227 4095 98.7 -9.7 56 747 0.00 2.45 0.00 0.000 1030 0.000 0.033 2043 1992 3227 3227 4094 0 0 0 0 0 0 26.41 26.36 26.44 9.61 31.09

811 -1.31 -586.5 2042 1992 3229 4095 107.1 -10.8 62 826 0.00 2.60 0.00 0.000 516 0.000 0.067 2043 1014 3229 3229 4095 0 0 0 0 0 0 26.70 26.31 26.71 9.61 31.72

851 -1.31 -586.5 2043 1014 3229 4094 111.6 -11.3 65 866 0.00 2.42 0.00 0.000 1030 0.000 0.034 2043 1985 3230 3230 4094 0 0 0 0 0 0 26.45 26.41 26.48 9.61 30.86

926 -1.31 -586.5 2043 1985 3231 4094 119.7 -11.2 71 940 0.00 2.62 0.00 0.000 260 0.000 0.070 2043 2958 3231 3231 4095 0 0 0 0 0 0 26.72 26.33 26.74 9.61 31.61

978 -1.31 -586.5 2042 2958 3232 4095 125.3 -10.8 75 992 0.00 2.45 0.00 0.000 1030 0.000 0.034 2043 1990 3233 3233 4095 0 0 0 0 0 0 26.47 26.43 26.50 9.61 30.66

1052 -1.31 -586.5 2043 1990 3234 4094 133.3 -11.5 81 1067 0.00 2.60 0.00 0.000 516 0.000 0.068 2043 1010 3235 3235 4095 0 0 0 0 0 0 26.75 26.36 26.77 9.61 30.90

1092 -1.31 -586.5 2042 1010 3235 4095 138.3 -12.5 84 1107 0.00 2.42 0.00 0.000 1030 0.000 0.034 2043 1983 3235 3235 4095 0 0 0 0 0 0 26.50 26.45 26.53 9.61 30.90

1167 -1.31 -586.5 2043 1984 3237 4094 147.6 -13.1 90 1182 0.00 2.65 0.00 0.000 260 0.000 0.073 2043 2961 3238 3238 4095 0 0 0 0 0 0 26.77 26.37 26.79 9.62 30.82

1194 end dive: TARGET_DEPTH_EXCEEDED

state 1194 begin apogee

1200 -0.33 0.0 2043 1985 3238 4094 150.9 -12.3 92 1244 3.35 0.00 37.30 2.160 10246 0.054 0.000 2361 1985 2519 2519 4095 0 0 0 0 0 0 26.47 24.84 23.53 9.61 30.70

1245 end apogee: CONTROL_FINISHED_OK

state 1245 begin climb

1246 1.31 586.5 2361 1985 2519 4094 153.3 0.0 95 1302 5.68 2.83 36.47 2.132 10756 0.044 0.073 2881 1014 1835 1835 4094 0 0 0 0 0 0 25.18 24.13 23.16 9.49 30.86

1340 1.54 701.1 2880 1014 1834 4094 147.7 8.8 102 1356 0.70 2.53 8.40 1.682 11270 0.028 0.031 2954 1985 1702 1702 4094 0 0 0 0 0 0 25.34 25.29 23.65 9.35 30.03

1416 1.54 701.1 2953 1988 1701 4094 140.2 10.7 108 1431 0.00 2.72 0.00 0.000 260 0.000 0.067 2954 2958 1700 1700 4094 0 0 0 0 0 0 25.75 25.42 25.76 9.32 30.03

1468 1.54 701.1 2953 2958 1699 4094 134.2 12.0 112 1482 0.00 2.53 0.00 0.000 1030 0.000 0.034 2954 1996 1699 1699 4094 0 0 0 0 0 0 25.69 25.64 25.70 9.32 30.35

1544 1.54 701.1 2953 1995 1697 4094 126.5 10.6 118 1559 0.00 2.70 0.00 0.000 516 0.000 0.070 2954 1013 1697 1697 4094 0 0 0 0 0 0 26.09 25.73 26.10 9.32 30.39

1607 1.66 760.1 2954 1013 1695 4094 120.2 9.4 123 1623 0.32 2.47 4.72 1.121 11270 0.032 0.032 2993 1989 1637 1637 4094 0 0 0 0 0 0 25.96 25.91 24.48 9.32 30.31

1684 1.66 760.1 2992 1989 1635 4094 111.7 12.3 129 1698 0.00 2.70 0.00 0.000 260 0.000 0.069 2993 2969 1634 1634 4094 0 0 0 0 0 0 26.20 25.84 26.21 9.30 30.35

1759 1.66 760.1 2992 2969 1633 4094 103.1 10.8 135 1773 0.00 2.53 0.00 0.000 1030 0.000 0.035 2993 1992 1632 1632 4094 0 0 0 0 0 0 26.04 25.98 26.06 9.30 30.39

1833 1.66 760.1 2992 1992 1631 4094 94.5 12.1 141 1848 0.00 2.65 0.00 0.000 516 0.000 0.068 2993 1012 1631 1631 4094 0 0 0 0 0 0 26.36 26.01 26.38 9.29 30.82

1885 1.66 760.1 2992 1012 1629 4094 88.8 11.2 145 1900 0.00 2.47 0.00 0.000 1030 0.000 0.032 2993 1994 1629 1629 4094 0 0 0 0 0 0 26.16 26.12 26.19 9.30 30.27

1960 1.66 760.1 2992 1994 1627 4094 80.7 11.7 151 1974 0.00 2.65 0.00 0.000 260 0.000 0.069 2993 2968 1627 1627 4094 0 0 0 0 0 0 26.46 26.09 26.47 9.30 30.42

2023 1.66 760.1 2992 2968 1625 4094 73.1 11.8 156 2037 0.00 2.50 0.00 0.000 1030 0.000 0.034 2993 1990 1625 1625 4094 0 0 0 0 0 0 26.22 26.20 26.27 9.30 30.50

2098 1.66 760.1 2992 1990 1623 4094 64.8 11.9 162 2112 0.00 2.62 0.00 0.000 516 0.000 0.068 2993 1011 1622 1622 4094 0 0 0 0 0 0 26.54 26.16 26.55 9.30 30.58

2149 1.66 760.1 2992 1011 1622 4094 59.1 11.3 166 2163 0.00 2.47 0.00 0.000 1030 0.000 0.032 2993 1999 1621 1621 4094 0 0 0 0 0 0 26.32 26.28 26.34 9.30 30.90

2224 1.66 760.1 2993 1999 1619 4094 50.8 11.9 172 2238 0.00 2.60 0.00 0.000 260 0.000 0.067 2994 2963 1619 1619 4094 0 0 0 0 0 0 26.60 26.22 26.61 9.30 31.17

2298 1.66 760.1 2992 2963 1617 4094 42.2 10.8 178 2313 0.00 2.47 0.00 0.000 1030 0.000 0.034 2993 1990 1617 1617 4094 0 0 0 0 0 0 26.36 26.32 26.40 9.30 30.42

2373 1.66 760.1 2993 1990 1615 4094 33.6 12.3 184 2387 0.00 2.62 0.00 0.000 516 0.000 0.070 2993 1009 1614 1614 4094 0 0 0 0 0 0 26.65 26.27 26.67 9.29 31.05

2413 1.66 760.1 2992 1009 1613 4094 28.6 12.7 187 2427 0.00 2.45 0.00 0.000 1030 0.000 0.032 2993 1993 1613 1613 4094 0 0 0 0 0 0 26.41 26.38 26.44 9.30 31.21

2487 1.66 760.1 2992 1993 1611 4094 20.4 10.9 193 2503 0.00 2.60 0.00 0.000 260 0.000 0.066 2993 2962 1611 1611 4094 0 0 0 0 0 0 26.69 26.31 26.70 9.29 30.94

2540 1.66 760.1 2993 2962 1609 4094 14.8 11.0 197 2554 0.00 2.47 0.00 0.000 1030 0.000 0.034 2993 1988 1609 1609 4094 0 0 0 0 0 0 26.44 26.39 26.47 9.29 30.42

2615 2.20 1029.6 2993 1988 1608 4094 8.8 7.1 203 2644 1.67 2.65 13.90 0.639 10756 0.031 0.075 3166 1015 1316 1316 4094 0 0 0 0 0 0 26.49 25.97 25.53 9.29 30.78

2670 2.68 1272.5 3165 1015 1316 4094 4.9 7.4 207 2699 1.67 2.42 13.55 0.598 11270 0.039 0.031 3330 1995 1034 1034 4094 0 0 0 0 0 0 26.29 26.29 25.44 9.23 31.09

2712 end climb: SURFACE_DEPTH_REACHED

state 2712 begin surface coast

2760 end surface coast: CONTROL_FINISHED_OK

state 2761 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	1990	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	24	HEADING	-1	C_ROLL_CLIMB	1990	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	19	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	17	ALTIM_PULSE	1
D_ABORT	220	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	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	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	0
D_SAFE	0	PROTOCOL	9	C_VBD	2520	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	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	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	2479	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	600	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	15	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.917877	SEABIRD_C_H	1.1284475
MASS	74087	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	4
HD_A	0.0020000001	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	240217,151728,4744.1626,-12224.7812,2,0.9,15,16.3,1.0,2.6,10,5.0	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056890,-0.368844
_SM_DEPTHo	1.96	KALMAN_X	-927.632202,-110.248375,188.346817,1043.116333,69.477478
_SM_ANGLEo	-64.9	KALMAN_Y	752.861877,-286.542816,204.571243,2605.902588,240.227020
GPS2	240217,152151,4744.2217,-12224.7754,5,0.8,15,16.3,0.0,0.0,11,4.5	MHEAD_RNG_PITCHd_Wd	172.5,411,-2.0,-10.000,-15.00,9491
SPEED_LIMITS	0.373,0.383	D_GRID	176

FINISH	0.2,1.013538	_24V_AH	23.16,4.142
SM_CCo	2859,0.00,0.000,0,0,1032,1277.60	_10V_AH	9.53,4.480
SM_GC	1.01,32.10,0.00,0.00,0.027,0.000,0.000,232,1996,1032,-7.02,0.27,1277.60,0,0,0,0,0,0,25.83,26.47,26.13	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,240217,142218	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.223202	MEM	322244
HUMID	30.42	DATA_FILE_SIZE	17752,214
INTERNAL_PRESSURE	9.10547	CAP_FILE_SIZE	61147,1
TCM_TEMP	7.00	CFSIZE	1024409600,1016987648
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.1,5.3	GPS	240217,161201,4744.107,-12224.732,3,1.0,38,16.3,0.0,0.0,9,4.3
ALTIM_BOTTOM_PING	101.6,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	68	135	214.42	SBE_CT	142	24	79.27
Roll_motor	107	74	186.57	AA4330	274	33	209.52
VBD_pump_during_apogee	114	2159	5719.35	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	1112	17	458.80
VBD_valve	0	0	0.00	SAT1001	1965	17	810.29
Iridium_during_init	24	103	57.86	nil	0	0	0.00
Iridium_during_connect	17	160	66.48	nil	0	0	0.00
Iridium_during_xfer	143	223	739.91	nil	0	0	0.00
Transponder_ping	0	420	7.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.98
TT8	622	19	117.43
LPSleep	60	2	1.25
TT8_Active	238	19	44.95
TT8_Sampling	2204	39	836.16
TT8_CF8	39	45	17.24
TT8_Kalman	33	81	26.07
Analog_circuits	893	12	102.16
GPS_charging	0	0	0.00
Compass	359	15	51.46
RAFOS	0	0	0.00
Transponder	7	30	2.05

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.31	-586.5	242	1985	2001	4094	0.0	0.0	0	32	0.00	0.00	-7.38	0.000	16390	0.000	0.000	242	1985	3210	3210	4095	0	0	0	0	0	0	26.50	25.70	26.51	9.35	31.13
34	-1.31	-586.5	241	1985	3210	4094	2.0	0.0	1	64	22.88	2.58	0.00	0.000	2564	0.135	0.060	2043	1012	3214	3214	4094	0	0	0	0	0	0	25.86	25.90	25.95	9.59	31.57
101	-1.31	-586.5	2043	1012	3215	4094	33.0	-45.5	6	115	0.00	2.47	0.00	0.000	1030	0.000	0.034	2043	1985	3215	3215	4095	0	0	0	0	0	0	26.07	26.01	26.12	9.60	31.41
175	-1.31	-586.5	2043	1985	3216	4095	39.8	-9.6	12	190	0.00	2.67	0.00	0.000	260	0.000	0.069	2043	2965	3216	3216	4094	0	0	0	0	0	0	26.39	26.01	26.41	9.60	31.13
227	-1.31	-586.5	2043	2965	3217	4094	44.9	-9.9	16	242	0.00	2.47	0.00	0.000	1030	0.000	0.033	2043	1995	3217	3217	4095	0	0	0	0	0	0	26.18	26.13	26.22	9.60	31.25
302	-1.31	-586.5	2043	1996	3219	4094	52.8	-10.7	22	316	0.00	2.62	0.00	0.000	516	0.000	0.068	2043	1017	3218	3218	4094	0	0	0	0	0	0	26.48	26.10	26.50	9.60	31.61
330	-1.31	-586.5	2043	1017	3219	4094	56.1	-11.2	24	345	0.00	2.45	0.00	0.000	1030	0.000	0.034	2043	1987	3219	3219	4095	0	0	0	0	0	0	26.25	26.20	26.27	9.60	31.49
405	-1.31	-586.5	2042	1987	3220	4095	63.9	-10.8	30	419	0.00	2.65	0.00	0.000	260	0.000	0.072	2043	2959	3221	3221	4095	0	0	0	0	0	0	26.55	26.15	26.55	9.60	30.90
468	-1.31	-586.5	2043	2959	3221	4094	70.3	-9.9	35	483	0.00	2.45	0.00	0.000	1030	0.000	0.032	2043	1993	3222	3222	4095	0	0	0	0	0	0	26.32	26.27	26.36	9.60	31.21
543	-1.31	-586.5	2043	1992	3223	4094	78.2	-10.9	41	558	0.00	2.60	0.00	0.000	516	0.000	0.067	2043	1017	3223	3223	4094	0	0	0	0	0	0	26.60	26.22	26.62	9.60	31.25
583	-1.31	-586.5	2043	1017	3224	4094	82.7	-11.2	44	597	0.00	2.42	0.00	0.000	1030	0.000	0.034	2043	1985	3224	3224	4094	0	0	0	0	0	0	26.37	26.32	26.39	9.61	30.98
657	-1.31	-586.5	2043	1985	3225	4094	90.8	-11.1	50	672	0.00	2.65	0.00	0.000	260	0.000	0.071	2043	2960	3226	3226	4095	0	0	0	0	0	0	26.65	26.26	26.66	9.61	30.86
733	-1.31	-586.5	2042	2960	3227	4095	98.7	-9.7	56	747	0.00	2.45	0.00	0.000	1030	0.000	0.033	2043	1992	3227	3227	4094	0	0	0	0	0	0	26.41	26.36	26.44	9.61	31.09
811	-1.31	-586.5	2042	1992	3229	4095	107.1	-10.8	62	826	0.00	2.60	0.00	0.000	516	0.000	0.067	2043	1014	3229	3229	4095	0	0	0	0	0	0	26.70	26.31	26.71	9.61	31.72
851	-1.31	-586.5	2043	1014	3229	4094	111.6	-11.3	65	866	0.00	2.42	0.00	0.000	1030	0.000	0.034	2043	1985	3230	3230	4094	0	0	0	0	0	0	26.45	26.41	26.48	9.61	30.86
926	-1.31	-586.5	2043	1985	3231	4094	119.7	-11.2	71	940	0.00	2.62	0.00	0.000	260	0.000	0.070	2043	2958	3231	3231	4095	0	0	0	0	0	0	26.72	26.33	26.74	9.61	31.61
978	-1.31	-586.5	2042	2958	3232	4095	125.3	-10.8	75	992	0.00	2.45	0.00	0.000	1030	0.000	0.034	2043	1990	3233	3233	4095	0	0	0	0	0	0	26.47	26.43	26.50	9.61	30.66
1052	-1.31	-586.5	2043	1990	3234	4094	133.3	-11.5	81	1067	0.00	2.60	0.00	0.000	516	0.000	0.068	2043	1010	3235	3235	4095	0	0	0	0	0	0	26.75	26.36	26.77	9.61	30.90
1092	-1.31	-586.5	2042	1010	3235	4095	138.3	-12.5	84	1107	0.00	2.42	0.00	0.000	1030	0.000	0.034	2043	1983	3235	3235	4095	0	0	0	0	0	0	26.50	26.45	26.53	9.61	30.90
1167	-1.31	-586.5	2043	1984	3237	4094	147.6	-13.1	90	1182	0.00	2.65	0.00	0.000	260	0.000	0.073	2043	2961	3238	3238	4095	0	0	0	0	0	0	26.77	26.37	26.79	9.62	30.82
1194	end dive: TARGET_DEPTH_EXCEEDED
state	1194	begin apogee
1200	-0.33	0.0	2043	1985	3238	4094	150.9	-12.3	92	1244	3.35	0.00	37.30	2.160	10246	0.054	0.000	2361	1985	2519	2519	4095	0	0	0	0	0	0	26.47	24.84	23.53	9.61	30.70
1245	end apogee: CONTROL_FINISHED_OK
state	1245	begin climb
1246	1.31	586.5	2361	1985	2519	4094	153.3	0.0	95	1302	5.68	2.83	36.47	2.132	10756	0.044	0.073	2881	1014	1835	1835	4094	0	0	0	0	0	0	25.18	24.13	23.16	9.49	30.86
1340	1.54	701.1	2880	1014	1834	4094	147.7	8.8	102	1356	0.70	2.53	8.40	1.682	11270	0.028	0.031	2954	1985	1702	1702	4094	0	0	0	0	0	0	25.34	25.29	23.65	9.35	30.03
1416	1.54	701.1	2953	1988	1701	4094	140.2	10.7	108	1431	0.00	2.72	0.00	0.000	260	0.000	0.067	2954	2958	1700	1700	4094	0	0	0	0	0	0	25.75	25.42	25.76	9.32	30.03
1468	1.54	701.1	2953	2958	1699	4094	134.2	12.0	112	1482	0.00	2.53	0.00	0.000	1030	0.000	0.034	2954	1996	1699	1699	4094	0	0	0	0	0	0	25.69	25.64	25.70	9.32	30.35
1544	1.54	701.1	2953	1995	1697	4094	126.5	10.6	118	1559	0.00	2.70	0.00	0.000	516	0.000	0.070	2954	1013	1697	1697	4094	0	0	0	0	0	0	26.09	25.73	26.10	9.32	30.39
1607	1.66	760.1	2954	1013	1695	4094	120.2	9.4	123	1623	0.32	2.47	4.72	1.121	11270	0.032	0.032	2993	1989	1637	1637	4094	0	0	0	0	0	0	25.96	25.91	24.48	9.32	30.31
1684	1.66	760.1	2992	1989	1635	4094	111.7	12.3	129	1698	0.00	2.70	0.00	0.000	260	0.000	0.069	2993	2969	1634	1634	4094	0	0	0	0	0	0	26.20	25.84	26.21	9.30	30.35
1759	1.66	760.1	2992	2969	1633	4094	103.1	10.8	135	1773	0.00	2.53	0.00	0.000	1030	0.000	0.035	2993	1992	1632	1632	4094	0	0	0	0	0	0	26.04	25.98	26.06	9.30	30.39
1833	1.66	760.1	2992	1992	1631	4094	94.5	12.1	141	1848	0.00	2.65	0.00	0.000	516	0.000	0.068	2993	1012	1631	1631	4094	0	0	0	0	0	0	26.36	26.01	26.38	9.29	30.82
1885	1.66	760.1	2992	1012	1629	4094	88.8	11.2	145	1900	0.00	2.47	0.00	0.000	1030	0.000	0.032	2993	1994	1629	1629	4094	0	0	0	0	0	0	26.16	26.12	26.19	9.30	30.27
1960	1.66	760.1	2992	1994	1627	4094	80.7	11.7	151	1974	0.00	2.65	0.00	0.000	260	0.000	0.069	2993	2968	1627	1627	4094	0	0	0	0	0	0	26.46	26.09	26.47	9.30	30.42
2023	1.66	760.1	2992	2968	1625	4094	73.1	11.8	156	2037	0.00	2.50	0.00	0.000	1030	0.000	0.034	2993	1990	1625	1625	4094	0	0	0	0	0	0	26.22	26.20	26.27	9.30	30.50
2098	1.66	760.1	2992	1990	1623	4094	64.8	11.9	162	2112	0.00	2.62	0.00	0.000	516	0.000	0.068	2993	1011	1622	1622	4094	0	0	0	0	0	0	26.54	26.16	26.55	9.30	30.58
2149	1.66	760.1	2992	1011	1622	4094	59.1	11.3	166	2163	0.00	2.47	0.00	0.000	1030	0.000	0.032	2993	1999	1621	1621	4094	0	0	0	0	0	0	26.32	26.28	26.34	9.30	30.90
2224	1.66	760.1	2993	1999	1619	4094	50.8	11.9	172	2238	0.00	2.60	0.00	0.000	260	0.000	0.067	2994	2963	1619	1619	4094	0	0	0	0	0	0	26.60	26.22	26.61	9.30	31.17
2298	1.66	760.1	2992	2963	1617	4094	42.2	10.8	178	2313	0.00	2.47	0.00	0.000	1030	0.000	0.034	2993	1990	1617	1617	4094	0	0	0	0	0	0	26.36	26.32	26.40	9.30	30.42
2373	1.66	760.1	2993	1990	1615	4094	33.6	12.3	184	2387	0.00	2.62	0.00	0.000	516	0.000	0.070	2993	1009	1614	1614	4094	0	0	0	0	0	0	26.65	26.27	26.67	9.29	31.05
2413	1.66	760.1	2992	1009	1613	4094	28.6	12.7	187	2427	0.00	2.45	0.00	0.000	1030	0.000	0.032	2993	1993	1613	1613	4094	0	0	0	0	0	0	26.41	26.38	26.44	9.30	31.21
2487	1.66	760.1	2992	1993	1611	4094	20.4	10.9	193	2503	0.00	2.60	0.00	0.000	260	0.000	0.066	2993	2962	1611	1611	4094	0	0	0	0	0	0	26.69	26.31	26.70	9.29	30.94
2540	1.66	760.1	2993	2962	1609	4094	14.8	11.0	197	2554	0.00	2.47	0.00	0.000	1030	0.000	0.034	2993	1988	1609	1609	4094	0	0	0	0	0	0	26.44	26.39	26.47	9.29	30.42
2615	2.20	1029.6	2993	1988	1608	4094	8.8	7.1	203	2644	1.67	2.65	13.90	0.639	10756	0.031	0.075	3166	1015	1316	1316	4094	0	0	0	0	0	0	26.49	25.97	25.53	9.29	30.78
2670	2.68	1272.5	3165	1015	1316	4094	4.9	7.4	207	2699	1.67	2.42	13.55	0.598	11270	0.039	0.031	3330	1995	1034	1034	4094	0	0	0	0	0	0	26.29	26.29	25.44	9.23	31.09
2712	end climb: SURFACE_DEPTH_REACHED
state	2712	begin surface coast
2760	end surface coast: CONTROL_FINISHED_OK
state	2761	begin surface