Glider dive log

Shilshole 22May18 * SG401 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_C 5.7000002e-06 C_ROLL_DIVE 2050 ALTIM_TOP_TURN_MARGIN 0

MISSION 28 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_PING_DEPTH 120

N_DIVES 20 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 18 ALTIM_PULSE 7

D_FLARE 2 TGT_DEFAULT_LON -16401 R_STBD_OVSHOOT 61 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 2350 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 10 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 2670 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 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 10 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 2670 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 6

C_ROLL_CLIMB 1900 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2050 MASS 73949 ROLL_DEG 45 UNCOM_BLEED 60

C_VBD 2350 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 18 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 61 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 5 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 234

D_ABORT 200 N_DIVES 20 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 220518,223154,4743.2788,-12224.5576,5,1.0,17,16.3,0.0,0.0,9,4.8 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.101003,0.312947

_SM_DEPTHo 1.35 KALMAN_X -12.629333,-79.978897,-155.285797,918.588318,101.346184

_SM_ANGLEo -54.6 KALMAN_Y -86.613068,-27.611763,-46.655437,1213.847290,-9.373180

GPS2 220518,224801,4743.2832,-12224.5625,7,1.2,52,16.3,0.0,151.5,7,3.0 MHEAD_RNG_PITCHd_Wd 325.8,1360,-13.3,-10.000,-16.91,4474

SPEED_LIMITS 0.143,0.329 D_GRID 176

Post-dive calculations and measurements:

SM_CCo 3045,3.12,0.313,0,0,1967,350.89 _24V_AH 23.85,4.631

SM_GC 2.26,29.25,2.78,3.12,0.032,0.035,0.313,232,2030,1967,-7.62,-2.64,350.89,0,0,0,0,0,0,26.30,26.58,25.75 _10V_AH 10.14,5.590

IRIDIUM_FIX 4808.40,-12337.82,220518,213509 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.847119 FG_AHR_10Vo 0.000

HUMID 52.32 MEM 313004

INTERNAL_PRESSURE 10.3555 DATA_FILE_SIZE 10473,311

TCM_TEMP 10.70 CAP_FILE_SIZE 131548,0

XPDR_PINGS 0 CFSIZE 1023623168,1020641280

ALTIM_TOP_PING 13.7,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 121.1,71.3 GPS 220518,234053,4743.795,-12224.590,5,0.9,16,16.3,0.0,0.0,9,4.7

SC_FREEKB 3907232

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 61 116 171.53 nil 0 0 0.00

Roll_motor 55 84 111.14 nil 0 0 0.00

VBD_pump_during_apogee 33 1971 1597.44 nil 0 0 0.00

VBD_pump_during_surface 3 312 23.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 103 114.35 nil 0 0 0.00

Iridium_during_connect 37 160 141.96 SciCon 3028 70 5060.08

Iridium_during_xfer 669 223 3563.22 nil 0 0 0.00

Transponder_ping 170 420 1705.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 53 50 27.24

TT8 330 19 66.34

LPSleep 1180 2 26.22

TT8_Active 139 19 27.91

TT8_Sampling 2319 39 935.91

TT8_CF8 68 45 31.74

TT8_Kalman 33 81 27.73

Analog_circuits 583 12 71.01

GPS_charging 0 0 0.00

Compass 456 5 23.16

RAFOS 0 0 0.00

Transponder 1685 30 512.72

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 -293.3 236 2055 1948 2045 0.0 0.0 0 17 0.00 0.00 -5.62 0.000 16390 0.000 0.000 224 2054 2674 2674 2045 0 0 0 0 0 0 26.58 25.20 26.60 10.44 53.30

19 -1.33 -293.3 232 2055 2670 2045 0.0 0.0 0 45 23.95 0.00 0.00 0.000 2054 0.116 0.000 2234 2058 2681 2681 2044 0 0 0 0 0 0 26.16 26.29 26.30 10.62 53.74

102 -1.33 -293.3 2228 2051 2677 2044 14.5 -9.5 9 103 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2050 2676 2676 2045 0 0 0 0 0 0 26.63 26.64 26.69 10.60 52.28

162 -1.33 -293.3 2232 2055 2689 2045 19.1 -7.7 15 163 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2051 2683 2683 2046 0 0 0 0 0 0 26.72 26.68 26.74 10.55 52.52

222 -1.33 -293.3 2233 2050 2679 2046 23.1 -6.8 21 223 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2051 2687 2687 2046 0 0 0 0 0 0 26.73 26.74 26.75 10.58 51.81

282 -1.33 -293.3 2232 2056 2688 2046 27.2 -6.7 27 287 0.00 2.62 0.00 0.000 516 0.000 0.072 2233 1073 2679 2679 2046 0 0 0 0 0 0 26.77 26.36 26.79 10.58 51.92

366 -1.33 -293.3 2233 1073 2681 2046 33.3 -7.5 41 371 0.00 2.33 0.00 0.000 1030 0.000 0.034 2234 2027 2680 2680 2043 0 0 0 0 0 0 26.58 26.59 26.60 10.58 52.40

432 -1.33 -293.3 2232 2020 2682 2043 37.7 -6.5 48 437 0.00 2.55 0.00 0.000 516 0.000 0.072 2238 1073 2682 2682 2045 0 0 0 0 0 0 26.85 26.45 26.86 10.57 52.24

534 -1.33 -293.3 2231 1072 2684 2045 45.7 -8.4 65 539 0.00 2.35 0.00 0.000 1030 0.000 0.032 2233 2035 2684 2684 2046 0 0 0 0 0 0 26.66 26.64 26.68 10.60 52.36

600 -1.33 -293.3 2238 2029 2692 2046 50.7 -7.2 72 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2040 2687 2687 2048 0 0 0 0 0 0 26.93 26.93 26.92 10.56 52.59

660 -1.33 -293.3 2233 2036 2686 2048 54.9 -7.0 78 665 0.00 2.58 0.00 0.000 516 0.000 0.072 2233 1071 2685 2685 2046 0 0 0 0 0 0 26.93 26.57 26.94 10.56 52.63

780 -1.33 -293.3 2233 1074 2684 2046 64.2 -7.9 98 785 0.00 2.33 0.00 0.000 1030 0.000 0.033 2234 2031 2688 2688 2047 0 0 0 0 0 0 26.72 26.72 26.74 10.55 53.15

846 -1.33 -293.3 2233 2032 2689 2047 68.8 -6.9 105 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2032 2689 2689 2046 0 0 0 0 0 0 26.97 26.99 27.01 10.56 52.83

906 -1.33 -293.3 2232 2032 2690 2046 72.9 -6.5 111 911 0.00 2.55 0.00 0.000 516 0.000 0.073 2233 1070 2689 2689 2046 0 0 0 0 0 0 26.99 26.55 27.00 10.59 53.58

1039 -1.33 -293.3 2232 1071 2692 2046 81.0 -6.8 130 1054 0.00 2.28 0.00 0.000 1030 0.000 0.031 2234 2024 2692 2692 2046 0 0 0 0 0 0 26.78 26.75 26.79 10.63 53.58

1142 -1.33 -293.3 2232 2024 2693 2046 87.1 -5.9 137 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2024 2694 2694 2046 0 0 0 0 0 0 26.94 26.94 26.96 10.55 53.46

1244 -1.33 -293.3 2233 2025 2693 2046 93.2 -6.0 144 1260 0.00 2.53 0.00 0.000 516 0.000 0.072 2234 1070 2694 2694 2046 0 0 0 0 0 0 26.91 26.58 26.95 10.51 52.95

1347 -1.33 -293.3 2233 1071 2695 2046 101.5 -8.6 151 1363 0.00 2.25 0.00 0.000 1030 0.000 0.032 2234 2015 2696 2696 2046 0 0 0 0 0 0 26.71 26.71 26.72 10.55 53.11

1449 -1.33 -293.3 2233 2016 2701 2046 109.0 -7.1 158 1463 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2016 2698 2698 2046 0 0 0 0 0 0 26.88 26.86 26.84 10.55 52.59

1550 -1.33 -293.3 2233 2015 2699 2046 116.5 -7.2 165 1566 0.00 2.50 0.00 0.000 516 0.000 0.073 2234 1076 2699 2699 2046 0 0 0 0 0 0 26.82 26.46 26.84 10.49 52.48

1651 -1.33 -293.3 2233 1075 2701 2046 124.6 -8.4 171 1667 0.00 2.25 0.00 0.000 1030 0.000 0.034 2234 2012 2701 2701 2046 0 0 0 0 0 0 26.60 26.57 26.65 10.55 52.32

1753 -1.33 -293.3 2233 2011 2710 2046 132.3 -7.4 178 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2012 2702 2702 2046 0 0 0 0 0 0 26.77 26.79 26.83 10.55 52.00

1825 end dive: HALF_MISSION_TIME_EXCEEDED

state 1826 begin apogee

1829 -0.33 0.0 2233 1894 2703 2040 137.7 -7.7 183 1855 3.35 0.00 17.60 1.971 10244 0.063 0.000 2556 1888 2354 2354 2047 0 0 0 0 0 0 26.51 25.53 24.30 10.55 52.16

1857 end apogee: CONTROL_FINISHED_OK

state 1857 begin climb

1858 1.33 293.3 2555 1890 2351 2047 139.4 0.0 187 1886 5.30 2.60 16.38 1.942 10500 0.037 0.048 3076 2878 2030 2030 2052 0 0 0 0 0 0 25.94 25.82 23.85 10.47 51.53

1915 1.33 293.3 3080 2878 2030 2052 134.7 11.2 197 1920 0.00 2.58 0.00 0.000 1030 0.000 0.041 3080 1914 2030 2030 2045 0 0 0 0 0 0 25.65 25.62 25.71 10.40 51.45

1981 1.33 293.3 3080 1914 2025 2045 126.3 12.9 204 1986 0.00 2.80 0.00 0.000 516 0.000 0.081 3080 907 2035 2035 2039 0 0 0 0 0 0 26.20 25.83 26.21 10.39 51.26

2053 1.33 293.3 3080 911 2026 2039 116.4 13.9 216 2058 0.00 2.47 0.00 0.000 1030 0.000 0.034 3080 1909 2026 2026 2046 0 0 0 0 0 0 26.17 26.19 26.20 10.39 51.53

2119 1.33 293.3 3080 1920 2025 2046 107.7 13.1 223 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1919 2024 2024 2046 0 0 0 0 0 0 26.48 26.51 26.50 10.39 51.96

2179 1.33 293.3 3080 1920 2023 2046 99.4 14.3 229 2180 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1920 2023 2023 2046 0 0 0 0 0 0 26.57 26.59 26.58 10.39 51.61

2239 1.33 293.3 3080 1921 2021 2046 90.7 14.4 235 2244 0.00 2.75 0.00 0.000 516 0.000 0.081 3083 921 2022 2022 2046 0 0 0 0 0 0 26.65 26.27 26.64 10.39 51.92

2311 1.33 293.3 3080 921 2018 2046 79.9 15.1 247 2317 0.00 2.38 0.00 0.000 1030 0.000 0.033 3081 1895 2017 2017 2047 0 0 0 0 0 0 26.48 26.46 26.51 10.39 52.32

2377 1.33 293.3 3080 1905 2017 2047 71.1 12.9 254 2378 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1904 2017 2017 2046 0 0 0 0 0 0 26.74 26.75 26.74 10.39 52.67

2437 1.33 293.3 3080 1903 2015 2046 63.5 12.5 260 2438 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1904 2015 2015 2045 0 0 0 0 0 0 26.77 26.79 26.78 10.38 53.03

2520 1.33 293.3 3075 1904 2012 2045 54.9 12.1 266 2535 0.00 2.65 0.00 0.000 516 0.000 0.082 3081 919 2012 2012 2045 0 0 0 0 0 0 26.74 26.40 26.76 10.38 53.07

2621 1.33 293.3 3079 920 2009 2045 41.6 13.4 273 2637 0.00 2.28 0.00 0.000 1030 0.000 0.035 3080 1889 2009 2009 2046 0 0 0 0 0 0 26.58 26.60 26.61 10.38 52.87

2723 1.33 293.3 3083 1889 2006 2046 29.2 12.1 280 2738 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1889 2006 2006 2046 0 0 0 0 0 0 26.76 26.77 26.77 10.38 52.95

2823 1.33 293.3 3080 1889 2013 2046 17.3 11.8 287 2838 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1893 2002 2002 2046 0 0 0 0 0 0 26.74 26.76 26.75 10.41 52.28

2906 1.33 296.8 3076 1889 2001 2046 7.4 9.9 294 2911 0.00 2.67 0.00 0.000 516 0.000 0.084 3080 917 2001 2001 2046 0 0 0 0 0 0 26.79 26.39 26.79 10.38 51.92

2982 end climb: SURFACE_DEPTH_REACHED

state 2982 begin surface coast

3006 end surface coast: CONTROL_FINISHED_OK

state 3006 begin surface

ID	401	HD_C	5.7000002e-06	C_ROLL_DIVE	2050	ALTIM_TOP_TURN_MARGIN	0
MISSION	28	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_PING_DEPTH	120
N_DIVES	20	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	18	ALTIM_PULSE	7
D_FLARE	2	TGT_DEFAULT_LON	-16401	R_STBD_OVSHOOT	61	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	2350	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	10	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	2670	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	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	220518,223154,4743.2788,-12224.5576,5,1.0,17,16.3,0.0,0.0,9,4.8	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.101003,0.312947
_SM_DEPTHo	1.35	KALMAN_X	-12.629333,-79.978897,-155.285797,918.588318,101.346184
_SM_ANGLEo	-54.6	KALMAN_Y	-86.613068,-27.611763,-46.655437,1213.847290,-9.373180
GPS2	220518,224801,4743.2832,-12224.5625,7,1.2,52,16.3,0.0,151.5,7,3.0	MHEAD_RNG_PITCHd_Wd	325.8,1360,-13.3,-10.000,-16.91,4474
SPEED_LIMITS	0.143,0.329	D_GRID	176

SM_CCo	3045,3.12,0.313,0,0,1967,350.89	_24V_AH	23.85,4.631
SM_GC	2.26,29.25,2.78,3.12,0.032,0.035,0.313,232,2030,1967,-7.62,-2.64,350.89,0,0,0,0,0,0,26.30,26.58,25.75	_10V_AH	10.14,5.590
IRIDIUM_FIX	4808.40,-12337.82,220518,213509	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.847119	FG_AHR_10Vo	0.000
HUMID	52.32	MEM	313004
INTERNAL_PRESSURE	10.3555	DATA_FILE_SIZE	10473,311
TCM_TEMP	10.70	CAP_FILE_SIZE	131548,0
XPDR_PINGS	0	CFSIZE	1023623168,1020641280
ALTIM_TOP_PING	13.7,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	121.1,71.3	GPS	220518,234053,4743.795,-12224.590,5,0.9,16,16.3,0.0,0.0,9,4.7
SC_FREEKB	3907232

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	61	116	171.53	nil	0	0	0.00
Roll_motor	55	84	111.14	nil	0	0	0.00
VBD_pump_during_apogee	33	1971	1597.44	nil	0	0	0.00
VBD_pump_during_surface	3	312	23.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	103	114.35	nil	0	0	0.00
Iridium_during_connect	37	160	141.96	SciCon	3028	70	5060.08
Iridium_during_xfer	669	223	3563.22	nil	0	0	0.00
Transponder_ping	170	420	1705.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	53	50	27.24
TT8	330	19	66.34
LPSleep	1180	2	26.22
TT8_Active	139	19	27.91
TT8_Sampling	2319	39	935.91
TT8_CF8	68	45	31.74
TT8_Kalman	33	81	27.73
Analog_circuits	583	12	71.01
GPS_charging	0	0	0.00
Compass	456	5	23.16
RAFOS	0	0	0.00
Transponder	1685	30	512.72

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	-293.3	236	2055	1948	2045	0.0	0.0	0	17	0.00	0.00	-5.62	0.000	16390	0.000	0.000	224	2054	2674	2674	2045	0	0	0	0	0	0	26.58	25.20	26.60	10.44	53.30
19	-1.33	-293.3	232	2055	2670	2045	0.0	0.0	0	45	23.95	0.00	0.00	0.000	2054	0.116	0.000	2234	2058	2681	2681	2044	0	0	0	0	0	0	26.16	26.29	26.30	10.62	53.74
102	-1.33	-293.3	2228	2051	2677	2044	14.5	-9.5	9	103	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2050	2676	2676	2045	0	0	0	0	0	0	26.63	26.64	26.69	10.60	52.28
162	-1.33	-293.3	2232	2055	2689	2045	19.1	-7.7	15	163	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2051	2683	2683	2046	0	0	0	0	0	0	26.72	26.68	26.74	10.55	52.52
222	-1.33	-293.3	2233	2050	2679	2046	23.1	-6.8	21	223	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2051	2687	2687	2046	0	0	0	0	0	0	26.73	26.74	26.75	10.58	51.81
282	-1.33	-293.3	2232	2056	2688	2046	27.2	-6.7	27	287	0.00	2.62	0.00	0.000	516	0.000	0.072	2233	1073	2679	2679	2046	0	0	0	0	0	0	26.77	26.36	26.79	10.58	51.92
366	-1.33	-293.3	2233	1073	2681	2046	33.3	-7.5	41	371	0.00	2.33	0.00	0.000	1030	0.000	0.034	2234	2027	2680	2680	2043	0	0	0	0	0	0	26.58	26.59	26.60	10.58	52.40
432	-1.33	-293.3	2232	2020	2682	2043	37.7	-6.5	48	437	0.00	2.55	0.00	0.000	516	0.000	0.072	2238	1073	2682	2682	2045	0	0	0	0	0	0	26.85	26.45	26.86	10.57	52.24
534	-1.33	-293.3	2231	1072	2684	2045	45.7	-8.4	65	539	0.00	2.35	0.00	0.000	1030	0.000	0.032	2233	2035	2684	2684	2046	0	0	0	0	0	0	26.66	26.64	26.68	10.60	52.36
600	-1.33	-293.3	2238	2029	2692	2046	50.7	-7.2	72	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2040	2687	2687	2048	0	0	0	0	0	0	26.93	26.93	26.92	10.56	52.59
660	-1.33	-293.3	2233	2036	2686	2048	54.9	-7.0	78	665	0.00	2.58	0.00	0.000	516	0.000	0.072	2233	1071	2685	2685	2046	0	0	0	0	0	0	26.93	26.57	26.94	10.56	52.63
780	-1.33	-293.3	2233	1074	2684	2046	64.2	-7.9	98	785	0.00	2.33	0.00	0.000	1030	0.000	0.033	2234	2031	2688	2688	2047	0	0	0	0	0	0	26.72	26.72	26.74	10.55	53.15
846	-1.33	-293.3	2233	2032	2689	2047	68.8	-6.9	105	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2032	2689	2689	2046	0	0	0	0	0	0	26.97	26.99	27.01	10.56	52.83
906	-1.33	-293.3	2232	2032	2690	2046	72.9	-6.5	111	911	0.00	2.55	0.00	0.000	516	0.000	0.073	2233	1070	2689	2689	2046	0	0	0	0	0	0	26.99	26.55	27.00	10.59	53.58
1039	-1.33	-293.3	2232	1071	2692	2046	81.0	-6.8	130	1054	0.00	2.28	0.00	0.000	1030	0.000	0.031	2234	2024	2692	2692	2046	0	0	0	0	0	0	26.78	26.75	26.79	10.63	53.58
1142	-1.33	-293.3	2232	2024	2693	2046	87.1	-5.9	137	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2024	2694	2694	2046	0	0	0	0	0	0	26.94	26.94	26.96	10.55	53.46
1244	-1.33	-293.3	2233	2025	2693	2046	93.2	-6.0	144	1260	0.00	2.53	0.00	0.000	516	0.000	0.072	2234	1070	2694	2694	2046	0	0	0	0	0	0	26.91	26.58	26.95	10.51	52.95
1347	-1.33	-293.3	2233	1071	2695	2046	101.5	-8.6	151	1363	0.00	2.25	0.00	0.000	1030	0.000	0.032	2234	2015	2696	2696	2046	0	0	0	0	0	0	26.71	26.71	26.72	10.55	53.11
1449	-1.33	-293.3	2233	2016	2701	2046	109.0	-7.1	158	1463	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2016	2698	2698	2046	0	0	0	0	0	0	26.88	26.86	26.84	10.55	52.59
1550	-1.33	-293.3	2233	2015	2699	2046	116.5	-7.2	165	1566	0.00	2.50	0.00	0.000	516	0.000	0.073	2234	1076	2699	2699	2046	0	0	0	0	0	0	26.82	26.46	26.84	10.49	52.48
1651	-1.33	-293.3	2233	1075	2701	2046	124.6	-8.4	171	1667	0.00	2.25	0.00	0.000	1030	0.000	0.034	2234	2012	2701	2701	2046	0	0	0	0	0	0	26.60	26.57	26.65	10.55	52.32
1753	-1.33	-293.3	2233	2011	2710	2046	132.3	-7.4	178	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2012	2702	2702	2046	0	0	0	0	0	0	26.77	26.79	26.83	10.55	52.00
1825	end dive: HALF_MISSION_TIME_EXCEEDED
state	1826	begin apogee
1829	-0.33	0.0	2233	1894	2703	2040	137.7	-7.7	183	1855	3.35	0.00	17.60	1.971	10244	0.063	0.000	2556	1888	2354	2354	2047	0	0	0	0	0	0	26.51	25.53	24.30	10.55	52.16
1857	end apogee: CONTROL_FINISHED_OK
state	1857	begin climb
1858	1.33	293.3	2555	1890	2351	2047	139.4	0.0	187	1886	5.30	2.60	16.38	1.942	10500	0.037	0.048	3076	2878	2030	2030	2052	0	0	0	0	0	0	25.94	25.82	23.85	10.47	51.53
1915	1.33	293.3	3080	2878	2030	2052	134.7	11.2	197	1920	0.00	2.58	0.00	0.000	1030	0.000	0.041	3080	1914	2030	2030	2045	0	0	0	0	0	0	25.65	25.62	25.71	10.40	51.45
1981	1.33	293.3	3080	1914	2025	2045	126.3	12.9	204	1986	0.00	2.80	0.00	0.000	516	0.000	0.081	3080	907	2035	2035	2039	0	0	0	0	0	0	26.20	25.83	26.21	10.39	51.26
2053	1.33	293.3	3080	911	2026	2039	116.4	13.9	216	2058	0.00	2.47	0.00	0.000	1030	0.000	0.034	3080	1909	2026	2026	2046	0	0	0	0	0	0	26.17	26.19	26.20	10.39	51.53
2119	1.33	293.3	3080	1920	2025	2046	107.7	13.1	223	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1919	2024	2024	2046	0	0	0	0	0	0	26.48	26.51	26.50	10.39	51.96
2179	1.33	293.3	3080	1920	2023	2046	99.4	14.3	229	2180	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1920	2023	2023	2046	0	0	0	0	0	0	26.57	26.59	26.58	10.39	51.61
2239	1.33	293.3	3080	1921	2021	2046	90.7	14.4	235	2244	0.00	2.75	0.00	0.000	516	0.000	0.081	3083	921	2022	2022	2046	0	0	0	0	0	0	26.65	26.27	26.64	10.39	51.92
2311	1.33	293.3	3080	921	2018	2046	79.9	15.1	247	2317	0.00	2.38	0.00	0.000	1030	0.000	0.033	3081	1895	2017	2017	2047	0	0	0	0	0	0	26.48	26.46	26.51	10.39	52.32
2377	1.33	293.3	3080	1905	2017	2047	71.1	12.9	254	2378	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1904	2017	2017	2046	0	0	0	0	0	0	26.74	26.75	26.74	10.39	52.67
2437	1.33	293.3	3080	1903	2015	2046	63.5	12.5	260	2438	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1904	2015	2015	2045	0	0	0	0	0	0	26.77	26.79	26.78	10.38	53.03
2520	1.33	293.3	3075	1904	2012	2045	54.9	12.1	266	2535	0.00	2.65	0.00	0.000	516	0.000	0.082	3081	919	2012	2012	2045	0	0	0	0	0	0	26.74	26.40	26.76	10.38	53.07
2621	1.33	293.3	3079	920	2009	2045	41.6	13.4	273	2637	0.00	2.28	0.00	0.000	1030	0.000	0.035	3080	1889	2009	2009	2046	0	0	0	0	0	0	26.58	26.60	26.61	10.38	52.87
2723	1.33	293.3	3083	1889	2006	2046	29.2	12.1	280	2738	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1889	2006	2006	2046	0	0	0	0	0	0	26.76	26.77	26.77	10.38	52.95
2823	1.33	293.3	3080	1889	2013	2046	17.3	11.8	287	2838	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1893	2002	2002	2046	0	0	0	0	0	0	26.74	26.76	26.75	10.41	52.28
2906	1.33	296.8	3076	1889	2001	2046	7.4	9.9	294	2911	0.00	2.67	0.00	0.000	516	0.000	0.084	3080	917	2001	2001	2046	0	0	0	0	0	0	26.79	26.39	26.79	10.38	51.92
2982	end climb: SURFACE_DEPTH_REACHED
state	2982	begin surface coast
3006	end surface coast: CONTROL_FINISHED_OK
state	3006	begin surface