Glider dive log

Shilshole 23Feb17 * SG401 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.017689999 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

MISSION 18 HD_C 5.7000002e-06 C_ROLL_DIVE 1990 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 HEADING -1 C_ROLL_CLIMB 1990 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 15 ESCAPE_HEADING 0 HEAD_ERRBAND 15 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 20 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 19 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 1 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 0 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 200 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 30 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 30 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 15 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 40 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 20 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 19 VBD_MAXERRORS 0

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 5 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 15 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 230217,231958,4742.8555,-12225.1328,3,0.9,15,16.3,0.0,0.0,9,4.4 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4744.000,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.050517,0.219077

_SM_DEPTHo 0.76 KALMAN_X -381.758728,-277.535706,-167.918457,555.080994,-31.073898

_SM_ANGLEo -41.4 KALMAN_Y -549.885803,-371.954742,-245.844406,1907.484009,-67.837677

GPS2 230217,232312,4742.8506,-12225.1514,5,0.9,17,16.3,0.0,0.0,9,4.8 MHEAD_RNG_PITCHd_Wd 356.7,2173,-15.0,-10.000,-23.98,2935

SPEED_LIMITS 0.173,0.225 D_GRID 186

Post-dive calculations and measurements:

FINISH 2.4,1.020013 _24V_AH 23.99,3.234

SM_CCo 2581,91.72,0.626,0,0,50,2118.17 _10V_AH 9.66,3.560

SM_GC 0.82,28.52,0.00,0.00,0.024,0.000,0.000,243,1992,50,-6.98,0.09,2121.60,0,0,0,0,0,0,25.75,26.01,25.84 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,230217,231556 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.211967 MEM 322268

HUMID 30.58 DATA_FILE_SIZE 17800,203

INTERNAL_PRESSURE 8.94921 CAP_FILE_SIZE 64735,0

TCM_TEMP 7.50 CFSIZE 1024409600,1018036224

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.5,4.3 GPS 240217,001139,4743.289,-12224.994,3,0.9,17,16.3,0.5,281.3,9,4.6

ALTIM_BOTTOM_PING 100.1,5.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 60 136 200.31 SBE_CT 135 24 78.29

Roll_motor 45 69 75.36 AA4330 260 33 206.09

VBD_pump_during_apogee 38 1942 1803.29 nil 0 0 0.00

VBD_pump_during_surface 91 625 1377.00 SAT1000 1055 17 450.63

VBD_valve 0 0 0.00 SAT1001 1864 17 796.12

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 8.81

TT8 563 19 107.70

LPSleep 89 2 1.90

TT8_Active 287 19 54.94

TT8_Sampling 1905 39 732.56

TT8_CF8 27 45 12.18

TT8_Kalman 33 81 26.41

Analog_circuits 844 12 97.94

GPS_charging 0 0 0.00

Compass 302 15 43.88

RAFOS 0 0 0.00

Transponder 7 30 2.08

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 -1.39 -195.5 243 1980 51 4094 0.0 0.0 0 46 0.00 0.00 -18.20 0.000 16390 0.000 0.000 243 1979 2754 2754 4094 0 0 0 0 0 0 26.67 25.82 26.69 9.03 33.26

48 -1.39 -195.5 243 1980 2754 4094 1.6 -5.9 2 77 22.65 2.22 0.00 0.000 2564 0.137 0.053 2024 1120 2756 2756 4094 0 0 0 0 0 0 25.96 26.01 26.03 9.54 33.18

102 -1.39 -195.5 2023 1119 2758 4094 21.1 -34.8 6 117 0.00 2.20 0.00 0.000 1030 0.000 0.036 2024 1988 2758 2758 4094 0 0 0 0 0 0 26.16 26.10 26.18 9.54 32.71

177 -1.39 -195.5 2023 1988 2759 4095 30.7 -12.2 12 191 0.00 0.00 0.00 0.000 6 0.000 0.000 2024 1987 2760 2760 4095 0 0 0 0 0 0 26.50 26.52 26.51 9.54 32.43

251 -1.39 -195.5 2023 1987 2761 4094 40.9 -14.1 18 264 0.00 0.00 0.00 0.000 6 0.000 0.000 2024 1988 2762 2762 4094 0 0 0 0 0 0 26.56 26.58 26.58 9.54 32.12

324 -1.39 -195.5 2023 1988 2764 4095 51.6 -14.4 24 338 0.00 0.00 0.00 0.000 6 0.000 0.000 2024 1988 2764 2764 4094 0 0 0 0 0 0 26.61 26.63 26.63 9.54 32.43

398 -1.39 -195.5 2023 1988 2766 4094 61.2 -12.5 30 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2024 1988 2766 2766 4094 0 0 0 0 0 0 26.65 26.67 26.67 9.55 32.63

472 -1.39 -195.5 2023 1988 2768 4094 71.3 -13.7 36 487 0.00 2.30 0.00 0.000 516 0.000 0.065 2024 1127 2768 2768 4094 0 0 0 0 0 0 26.69 26.27 26.70 9.54 32.20

537 -1.39 -195.5 2024 1127 2770 4094 79.9 -13.6 41 551 0.00 2.15 0.00 0.000 1030 0.000 0.037 2024 1985 2770 2770 4094 0 0 0 0 0 0 26.43 26.39 26.46 9.54 32.04

611 -1.39 -195.5 2023 1986 2771 4094 89.5 -12.1 47 626 0.00 2.33 0.00 0.000 260 0.000 0.067 2024 2855 2772 2772 4094 0 0 0 0 0 0 26.74 26.32 26.75 9.55 32.31

651 -1.39 -195.5 2023 2855 2773 4094 94.5 -12.5 50 666 0.00 2.17 0.00 0.000 1030 0.000 0.037 2024 1998 2773 2773 4094 0 0 0 0 0 0 26.46 26.41 26.50 9.55 31.80

730 -1.39 -195.5 2023 1997 2775 4094 106.2 -15.4 56 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 1997 2776 2776 4095 0 0 0 0 0 0 26.77 26.79 26.79 9.55 31.92

804 -1.39 -195.5 2023 1997 2778 4094 118.0 -16.0 62 818 0.00 2.33 0.00 0.000 516 0.000 0.067 2024 1119 2778 2778 4095 0 0 0 0 0 0 26.80 26.35 26.81 9.54 31.84

867 -1.39 -195.5 2023 1119 2780 4094 128.2 -16.1 67 881 0.00 2.15 0.00 0.000 1030 0.000 0.035 2024 1983 2781 2781 4095 0 0 0 0 0 0 26.51 26.48 26.55 9.54 31.88

941 -1.39 -195.5 2023 1983 2783 4094 139.1 -14.5 73 956 0.00 2.33 0.00 0.000 260 0.000 0.066 2024 2857 2783 2783 4095 0 0 0 0 0 0 26.83 26.40 26.84 9.54 32.08

993 -1.39 -195.5 2023 2857 2785 4094 146.7 -15.0 77 1007 0.00 2.20 0.00 0.000 1030 0.000 0.037 2024 1988 2785 2785 4095 0 0 0 0 0 0 26.53 26.49 26.58 9.55 31.68

1020 end dive: TARGET_DEPTH_EXCEEDED

state 1020 begin apogee

1023 -0.33 0.0 2024 1988 2786 4094 150.7 -14.1 79 1052 3.72 0.00 14.80 1.942 10246 0.078 0.000 2361 1986 2518 2518 4094 0 0 0 0 0 0 26.44 25.41 24.39 9.55 32.00

1053 end apogee: CONTROL_FINISHED_OK

state 1053 begin climb

1054 1.39 195.5 2361 1985 2518 4094 154.0 0.0 81 1083 5.78 2.40 12.98 1.892 10500 0.045 0.057 2908 2854 2292 2292 4095 0 0 0 0 0 0 26.01 25.01 23.99 9.50 31.45

1120 1.44 220.6 2907 2854 2291 4094 149.8 9.1 86 1136 0.08 2.25 3.40 0.900 11270 0.063 0.037 2921 1996 2261 2261 4094 0 0 0 0 0 0 25.75 25.72 24.20 9.47 31.41

1197 1.49 241.5 2920 1996 2260 4094 142.5 9.3 92 1212 0.10 2.40 3.05 0.734 10756 0.076 0.070 2937 1119 2237 2237 4094 0 0 0 0 0 0 25.97 25.39 24.38 9.45 31.49

1250 1.49 241.5 2936 1120 2236 4094 136.5 11.2 96 1264 0.00 2.20 0.00 0.000 1030 0.000 0.032 2937 1990 2235 2235 4094 0 0 0 0 0 0 26.00 25.96 26.03 9.45 31.65

1324 1.49 241.5 2936 1990 2234 4094 127.9 11.7 102 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1990 2233 2233 4094 0 0 0 0 0 0 26.36 26.37 26.37 9.45 31.53

1398 1.49 241.5 2936 1990 2231 4094 119.3 11.2 108 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1990 2231 2231 4094 0 0 0 0 0 0 26.44 26.46 26.45 9.45 31.49

1472 1.49 241.5 2936 1990 2229 4094 111.0 11.4 114 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1990 2229 2229 4094 0 0 0 0 0 0 26.51 26.53 26.53 9.45 31.49

1546 1.49 241.5 2936 1990 2228 4094 102.7 11.2 120 1561 0.00 2.35 0.00 0.000 516 0.000 0.068 2937 1121 2227 2227 4094 0 0 0 0 0 0 26.56 26.15 26.58 9.44 31.33

1598 1.49 241.5 2936 1120 2226 4094 96.6 11.7 124 1612 0.00 2.17 0.00 0.000 1030 0.000 0.032 2937 1994 2226 2226 4094 0 0 0 0 0 0 26.32 26.29 26.36 9.44 31.84

1673 1.49 241.5 2936 1995 2225 4094 88.3 11.0 130 1686 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1994 2224 2224 4094 0 0 0 0 0 0 26.64 26.65 26.65 9.44 31.49

1747 1.49 241.5 2937 1994 2223 4094 80.0 11.0 136 1760 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1994 2222 2222 4094 0 0 0 0 0 0 26.67 26.69 26.69 9.44 31.72

1821 1.49 242.2 2936 1994 2221 4094 72.5 10.0 142 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1994 2221 2221 4094 0 0 0 0 0 0 26.70 26.72 26.72 9.44 31.84

1894 1.49 242.2 2936 1994 2219 4094 64.6 10.6 148 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1994 2219 2219 4094 0 0 0 0 0 0 26.73 26.75 26.74 9.43 31.88

1968 1.49 242.2 2936 1994 2218 4094 56.8 10.3 154 1983 0.00 2.35 0.00 0.000 516 0.000 0.068 2937 1119 2217 2217 4094 0 0 0 0 0 0 26.76 26.33 26.77 9.44 31.37

2054 1.49 242.2 2936 1119 2215 4094 47.1 11.8 161 2069 0.00 2.15 0.00 0.000 1030 0.000 0.032 2937 1988 2215 2215 4094 0 0 0 0 0 0 26.55 26.46 26.54 9.43 31.37

2129 1.49 242.7 2936 1988 2213 4094 39.3 10.0 167 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1989 2213 2213 4094 0 0 0 0 0 0 26.80 26.82 26.82 9.44 31.41

2203 1.51 251.9 2936 1988 2212 4094 32.1 9.7 173 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1988 2212 2212 4094 0 0 0 0 0 0 26.82 26.84 26.83 9.43 31.76

2277 1.55 273.3 2936 1988 2210 4094 25.3 9.3 179 2293 0.12 0.00 2.28 0.131 10246 0.063 0.000 2957 1988 2202 2202 4094 0 0 0 0 0 0 26.63 26.03 25.46 9.43 31.41

2354 1.55 273.3 2957 1989 2200 4094 16.8 11.6 185 2367 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 1989 2200 2200 4094 0 0 0 0 0 0 26.84 26.86 26.86 9.42 31.84

2427 1.55 273.3 2957 1988 2198 4095 9.1 10.4 191 2442 0.00 2.28 0.00 0.000 260 0.000 0.058 2957 2858 2197 2197 4094 0 0 0 0 0 0 26.86 26.46 26.87 9.43 31.37

2479 1.57 281.3 2957 2858 2197 4094 4.2 9.7 195 2495 0.00 2.20 2.20 0.086 9222 0.000 0.037 2957 1992 2189 2189 4094 0 0 0 0 0 0 26.59 26.51 25.68 9.43 31.49

2519 end climb: SURFACE_DEPTH_REACHED

state 2519 begin surface coast

2579 end surface coast: CONTROL_FINISHED_OK

state 2579 begin surface

ID	401	HD_B	0.017689999	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
MISSION	18	HD_C	5.7000002e-06	C_ROLL_DIVE	1990	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	HEADING	-1	C_ROLL_CLIMB	1990	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	15	ESCAPE_HEADING	0	HEAD_ERRBAND	15	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	20	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	19	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	1	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	0	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	200	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	30	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	230217,231958,4742.8555,-12225.1328,3,0.9,15,16.3,0.0,0.0,9,4.4	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4744.000,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.050517,0.219077
_SM_DEPTHo	0.76	KALMAN_X	-381.758728,-277.535706,-167.918457,555.080994,-31.073898
_SM_ANGLEo	-41.4	KALMAN_Y	-549.885803,-371.954742,-245.844406,1907.484009,-67.837677
GPS2	230217,232312,4742.8506,-12225.1514,5,0.9,17,16.3,0.0,0.0,9,4.8	MHEAD_RNG_PITCHd_Wd	356.7,2173,-15.0,-10.000,-23.98,2935
SPEED_LIMITS	0.173,0.225	D_GRID	186

FINISH	2.4,1.020013	_24V_AH	23.99,3.234
SM_CCo	2581,91.72,0.626,0,0,50,2118.17	_10V_AH	9.66,3.560
SM_GC	0.82,28.52,0.00,0.00,0.024,0.000,0.000,243,1992,50,-6.98,0.09,2121.60,0,0,0,0,0,0,25.75,26.01,25.84	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,230217,231556	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.211967	MEM	322268
HUMID	30.58	DATA_FILE_SIZE	17800,203
INTERNAL_PRESSURE	8.94921	CAP_FILE_SIZE	64735,0
TCM_TEMP	7.50	CFSIZE	1024409600,1018036224
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.5,4.3	GPS	240217,001139,4743.289,-12224.994,3,0.9,17,16.3,0.5,281.3,9,4.6
ALTIM_BOTTOM_PING	100.1,5.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	60	136	200.31	SBE_CT	135	24	78.29
Roll_motor	45	69	75.36	AA4330	260	33	206.09
VBD_pump_during_apogee	38	1942	1803.29	nil	0	0	0.00
VBD_pump_during_surface	91	625	1377.00	SAT1000	1055	17	450.63
VBD_valve	0	0	0.00	SAT1001	1864	17	796.12
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	8.81
TT8	563	19	107.70
LPSleep	89	2	1.90
TT8_Active	287	19	54.94
TT8_Sampling	1905	39	732.56
TT8_CF8	27	45	12.18
TT8_Kalman	33	81	26.41
Analog_circuits	844	12	97.94
GPS_charging	0	0	0.00
Compass	302	15	43.88
RAFOS	0	0	0.00
Transponder	7	30	2.08

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	-1.39	-195.5	243	1980	51	4094	0.0	0.0	0	46	0.00	0.00	-18.20	0.000	16390	0.000	0.000	243	1979	2754	2754	4094	0	0	0	0	0	0	26.67	25.82	26.69	9.03	33.26
48	-1.39	-195.5	243	1980	2754	4094	1.6	-5.9	2	77	22.65	2.22	0.00	0.000	2564	0.137	0.053	2024	1120	2756	2756	4094	0	0	0	0	0	0	25.96	26.01	26.03	9.54	33.18
102	-1.39	-195.5	2023	1119	2758	4094	21.1	-34.8	6	117	0.00	2.20	0.00	0.000	1030	0.000	0.036	2024	1988	2758	2758	4094	0	0	0	0	0	0	26.16	26.10	26.18	9.54	32.71
177	-1.39	-195.5	2023	1988	2759	4095	30.7	-12.2	12	191	0.00	0.00	0.00	0.000	6	0.000	0.000	2024	1987	2760	2760	4095	0	0	0	0	0	0	26.50	26.52	26.51	9.54	32.43
251	-1.39	-195.5	2023	1987	2761	4094	40.9	-14.1	18	264	0.00	0.00	0.00	0.000	6	0.000	0.000	2024	1988	2762	2762	4094	0	0	0	0	0	0	26.56	26.58	26.58	9.54	32.12
324	-1.39	-195.5	2023	1988	2764	4095	51.6	-14.4	24	338	0.00	0.00	0.00	0.000	6	0.000	0.000	2024	1988	2764	2764	4094	0	0	0	0	0	0	26.61	26.63	26.63	9.54	32.43
398	-1.39	-195.5	2023	1988	2766	4094	61.2	-12.5	30	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2024	1988	2766	2766	4094	0	0	0	0	0	0	26.65	26.67	26.67	9.55	32.63
472	-1.39	-195.5	2023	1988	2768	4094	71.3	-13.7	36	487	0.00	2.30	0.00	0.000	516	0.000	0.065	2024	1127	2768	2768	4094	0	0	0	0	0	0	26.69	26.27	26.70	9.54	32.20
537	-1.39	-195.5	2024	1127	2770	4094	79.9	-13.6	41	551	0.00	2.15	0.00	0.000	1030	0.000	0.037	2024	1985	2770	2770	4094	0	0	0	0	0	0	26.43	26.39	26.46	9.54	32.04
611	-1.39	-195.5	2023	1986	2771	4094	89.5	-12.1	47	626	0.00	2.33	0.00	0.000	260	0.000	0.067	2024	2855	2772	2772	4094	0	0	0	0	0	0	26.74	26.32	26.75	9.55	32.31
651	-1.39	-195.5	2023	2855	2773	4094	94.5	-12.5	50	666	0.00	2.17	0.00	0.000	1030	0.000	0.037	2024	1998	2773	2773	4094	0	0	0	0	0	0	26.46	26.41	26.50	9.55	31.80
730	-1.39	-195.5	2023	1997	2775	4094	106.2	-15.4	56	743	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	1997	2776	2776	4095	0	0	0	0	0	0	26.77	26.79	26.79	9.55	31.92
804	-1.39	-195.5	2023	1997	2778	4094	118.0	-16.0	62	818	0.00	2.33	0.00	0.000	516	0.000	0.067	2024	1119	2778	2778	4095	0	0	0	0	0	0	26.80	26.35	26.81	9.54	31.84
867	-1.39	-195.5	2023	1119	2780	4094	128.2	-16.1	67	881	0.00	2.15	0.00	0.000	1030	0.000	0.035	2024	1983	2781	2781	4095	0	0	0	0	0	0	26.51	26.48	26.55	9.54	31.88
941	-1.39	-195.5	2023	1983	2783	4094	139.1	-14.5	73	956	0.00	2.33	0.00	0.000	260	0.000	0.066	2024	2857	2783	2783	4095	0	0	0	0	0	0	26.83	26.40	26.84	9.54	32.08
993	-1.39	-195.5	2023	2857	2785	4094	146.7	-15.0	77	1007	0.00	2.20	0.00	0.000	1030	0.000	0.037	2024	1988	2785	2785	4095	0	0	0	0	0	0	26.53	26.49	26.58	9.55	31.68
1020	end dive: TARGET_DEPTH_EXCEEDED
state	1020	begin apogee
1023	-0.33	0.0	2024	1988	2786	4094	150.7	-14.1	79	1052	3.72	0.00	14.80	1.942	10246	0.078	0.000	2361	1986	2518	2518	4094	0	0	0	0	0	0	26.44	25.41	24.39	9.55	32.00
1053	end apogee: CONTROL_FINISHED_OK
state	1053	begin climb
1054	1.39	195.5	2361	1985	2518	4094	154.0	0.0	81	1083	5.78	2.40	12.98	1.892	10500	0.045	0.057	2908	2854	2292	2292	4095	0	0	0	0	0	0	26.01	25.01	23.99	9.50	31.45
1120	1.44	220.6	2907	2854	2291	4094	149.8	9.1	86	1136	0.08	2.25	3.40	0.900	11270	0.063	0.037	2921	1996	2261	2261	4094	0	0	0	0	0	0	25.75	25.72	24.20	9.47	31.41
1197	1.49	241.5	2920	1996	2260	4094	142.5	9.3	92	1212	0.10	2.40	3.05	0.734	10756	0.076	0.070	2937	1119	2237	2237	4094	0	0	0	0	0	0	25.97	25.39	24.38	9.45	31.49
1250	1.49	241.5	2936	1120	2236	4094	136.5	11.2	96	1264	0.00	2.20	0.00	0.000	1030	0.000	0.032	2937	1990	2235	2235	4094	0	0	0	0	0	0	26.00	25.96	26.03	9.45	31.65
1324	1.49	241.5	2936	1990	2234	4094	127.9	11.7	102	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1990	2233	2233	4094	0	0	0	0	0	0	26.36	26.37	26.37	9.45	31.53
1398	1.49	241.5	2936	1990	2231	4094	119.3	11.2	108	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1990	2231	2231	4094	0	0	0	0	0	0	26.44	26.46	26.45	9.45	31.49
1472	1.49	241.5	2936	1990	2229	4094	111.0	11.4	114	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1990	2229	2229	4094	0	0	0	0	0	0	26.51	26.53	26.53	9.45	31.49
1546	1.49	241.5	2936	1990	2228	4094	102.7	11.2	120	1561	0.00	2.35	0.00	0.000	516	0.000	0.068	2937	1121	2227	2227	4094	0	0	0	0	0	0	26.56	26.15	26.58	9.44	31.33
1598	1.49	241.5	2936	1120	2226	4094	96.6	11.7	124	1612	0.00	2.17	0.00	0.000	1030	0.000	0.032	2937	1994	2226	2226	4094	0	0	0	0	0	0	26.32	26.29	26.36	9.44	31.84
1673	1.49	241.5	2936	1995	2225	4094	88.3	11.0	130	1686	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1994	2224	2224	4094	0	0	0	0	0	0	26.64	26.65	26.65	9.44	31.49
1747	1.49	241.5	2937	1994	2223	4094	80.0	11.0	136	1760	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1994	2222	2222	4094	0	0	0	0	0	0	26.67	26.69	26.69	9.44	31.72
1821	1.49	242.2	2936	1994	2221	4094	72.5	10.0	142	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1994	2221	2221	4094	0	0	0	0	0	0	26.70	26.72	26.72	9.44	31.84
1894	1.49	242.2	2936	1994	2219	4094	64.6	10.6	148	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1994	2219	2219	4094	0	0	0	0	0	0	26.73	26.75	26.74	9.43	31.88
1968	1.49	242.2	2936	1994	2218	4094	56.8	10.3	154	1983	0.00	2.35	0.00	0.000	516	0.000	0.068	2937	1119	2217	2217	4094	0	0	0	0	0	0	26.76	26.33	26.77	9.44	31.37
2054	1.49	242.2	2936	1119	2215	4094	47.1	11.8	161	2069	0.00	2.15	0.00	0.000	1030	0.000	0.032	2937	1988	2215	2215	4094	0	0	0	0	0	0	26.55	26.46	26.54	9.43	31.37
2129	1.49	242.7	2936	1988	2213	4094	39.3	10.0	167	2143	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1989	2213	2213	4094	0	0	0	0	0	0	26.80	26.82	26.82	9.44	31.41
2203	1.51	251.9	2936	1988	2212	4094	32.1	9.7	173	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1988	2212	2212	4094	0	0	0	0	0	0	26.82	26.84	26.83	9.43	31.76
2277	1.55	273.3	2936	1988	2210	4094	25.3	9.3	179	2293	0.12	0.00	2.28	0.131	10246	0.063	0.000	2957	1988	2202	2202	4094	0	0	0	0	0	0	26.63	26.03	25.46	9.43	31.41
2354	1.55	273.3	2957	1989	2200	4094	16.8	11.6	185	2367	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	1989	2200	2200	4094	0	0	0	0	0	0	26.84	26.86	26.86	9.42	31.84
2427	1.55	273.3	2957	1988	2198	4095	9.1	10.4	191	2442	0.00	2.28	0.00	0.000	260	0.000	0.058	2957	2858	2197	2197	4094	0	0	0	0	0	0	26.86	26.46	26.87	9.43	31.37
2479	1.57	281.3	2957	2858	2197	4094	4.2	9.7	195	2495	0.00	2.20	2.20	0.086	9222	0.000	0.037	2957	1992	2189	2189	4094	0	0	0	0	0	0	26.59	26.51	25.68	9.43	31.49
2519	end climb: SURFACE_DEPTH_REACHED
state	2519	begin surface coast
2579	end surface coast: CONTROL_FINISHED_OK
state	2579	begin surface