Glider dive log

Shilshole 23Apr14 * SG217 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HEADING -1 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 1 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 120

DIVE 10 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 5

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_TGT 180 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 32 XPDR_VALID 1

D_ABORT 1090 SM_CC 290 R_STBD_OVSHOOT 35 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 25 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_YINT -0.1

T_BOOST 2 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 0 C_VBD 2749 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_DIVE 75 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_MISSION 85 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN 540 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_CHARGE -276.51151 DBDW 0 COMPASS2_DEVICE -1

USE_BATHY 0 T_RSLEEP 3 PITCH_W_GAIN 0 PHONE_DEVICE 49

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 50 SIM_W 0

RELAUNCH 1 PITCH_MIN 200 MINV_24V 12 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_10V 12 SEABIRD_T_G 0.0043902649

MAX_BUOY 80 C_PITCH 3106 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_J 2.9521423e-06

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.840004 SEABIRD_C_G -9.69524

RHO 1.023 P_OVSHOOT_WITHG 0.079999998 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS 51960 PITCH_GAIN 22.5 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

MASS_COMP 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

NAV_MODE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_MAXERRORS 1 COMPASS_USE 0 SC_PROFILE 3.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_BOTTOM_TURN_MARGIN 15

HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_10V 50 D_SAFE 0 PITCH_AD_RATE 160 SM_CC 290

AH0_24V 350 D_SURF 2 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 180 PITCH_DBAND 0.1 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING 0 PITCH_GAIN 22.5 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 FG_AHR_10V 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_VBD_SHIFT 0.0015 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001155691 T_ABORT 1440

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_YINT -50.840004 T_BOOST 2

CALL_NDIVES 1 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 75

CALL_TRIES 5 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CALL_WAIT 60 HEADING -1 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CAPUPLOAD 1 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_CHARGE -276.51151

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMM_SEQ 0 ID 217 RAFOS_PEAK_OFFSET 1.5 T_MISSION 85

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_NO_W 120

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.1 RHO 1.023 T_RSLEEP 3

COMPASS_USE 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_PITCH 3106 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_CLIMB 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_ROLL_DIVE 2200 LOGGERDEVICE4 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

C_VBD 2749 LOGGERS 1 ROLL_MAX 3790 USE_BATHY 0

DBDW 0 MASS 51960 ROLL_MAXERRORS 2 USE_ICE 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MAX_BUOY 80 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE1 -1 MINV_10V 12 R_PORT_OVSHOOT 32 VBD_DBAND 2

DEVICE2 -1 MINV_24V 12 R_STBD_OVSHOOT 35 VBD_MAX 3960

DEVICE3 -1 MISSION 1 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 500

DEVICE5 -1 NAV_MODE 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 NOCOMM_ACTION 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 10 N_DIVES 0 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_ABORT 1090 N_FILEKB 4 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_BOOST 25 N_GPS 20 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5093383e-05

D_NO_BLEED 500 PHONE_SUPPLY 2 SEABIRD_T_J 2.9521423e-06

D_OFFGRID 100 PITCH_ADJ_DBAND 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 240414,021135,4744.339,-12224.523,37,0.8,37,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.800,-12224.700

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.031,-0.180

_SM_DEPTHo 1.24 KALMAN_X 282.2,-220.0,283.8,125.7,115.2

_SM_ANGLEo -73.1 KALMAN_Y 2001.8,-201.5,764.8,376.9,369.7

GPS2 240414,022056,4744.343,-12224.573,4,0.8,4,16.3 MHEAD_RNG_PITCHd_Wd 173.5,2863,-20.8,-8.000,-23.67,1492

SPEED_LIMITS 0.080,0.183 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.008658 _24V_AH 14.0,0.942

SM_CCo 3578,49.45,0.087,0,0,1566,290.19 _10V_AH 14.0,0.401

SM_GC 2.10,9.62,0.32,49.45,0.121,0.106,0.087,214,2205,1566,-9.00,-0.88,290.19,0,0,0,0,0,0,14.87,14.88,14.87 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,240414,010115 FG_AHR_10Vo 0.000

TT8_MAMPS 0.035952,0.035952 MEM 322772

HUMID 31.45 DATA_FILE_SIZE 13431,564

INTERNAL_PRESSURE 8.99215 CAP_FILE_SIZE 104517,0

TCM_TEMP 17.00 CFSIZE 1024409600,1021558784

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

ALTIM_BOTTOM_PING 120.3,76.2 GPS 240414,032259,4743.808,-12224.567,3,1.5,3,16.3

SC_FREEKB 4016864

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 445 153.34 nil 0 0 0.00

Roll_motor 72 106 107.97 nil 0 0 0.00

VBD_pump_during_apogee 193 963 2608.51 nil 0 0 0.00

VBD_pump_during_surface 49 87 60.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 18 6.61 nil 0 0 0.00

Iridium_during_connect 38 160 85.87 SciCon 3558 5 253.79

Iridium_during_xfer 400 223 1250.99 nil 0 0 0.00

Transponder_ping 0 420 2.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 19 1.63

TT8 1303 21 395.86

LPSleep 1022 2 31.34

TT8_Active 380 21 115.58

TT8_Sampling 1445 40 818.28

TT8_CF8 50 53 37.61

TT8_Kalman 33 56 26.45

Analog_circuits 912 15 191.73

GPS_charging 0 0 0.00

Compass 922 0 0.00

RAFOS 0 0 0.00

Transponder 5 30 2.36

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -1.04 -78.2 204 2211 550 461 0.0 0.0 0 116 0.00 0.00 -92.90 0.000 16390 0.000 0.000 204 2212 3068 3081 3056 0 0 0 0 0 0 28.83 28.83 14.92

118 -1.04 -78.2 204 2212 3081 3056 3.6 -7.8 18 137 12.40 2.45 0.00 0.000 2564 0.445 0.085 2760 794 3069 3085 3053 0 0 0 0 0 0 14.51 14.69 28.83

223 -1.04 -78.2 2760 794 3090 3048 27.9 -16.8 38 230 0.00 2.40 0.00 0.000 1030 0.000 0.080 2760 2191 3069 3090 3048 0 0 0 0 0 0 28.83 14.73 28.83

291 -1.04 -78.2 2760 2192 3090 3046 38.3 -16.0 51 298 0.00 2.50 0.00 0.000 260 0.000 0.106 2759 3611 3069 3092 3046 0 0 0 0 0 0 28.83 14.74 28.83

339 -1.04 -78.2 2759 3611 3091 3046 45.6 -14.6 60 346 0.00 2.38 0.00 0.000 1030 0.000 0.065 2759 2193 3068 3091 3046 0 0 0 0 0 0 28.83 14.80 28.83

407 -1.04 -78.2 2759 2190 3092 3046 55.2 -13.5 73 414 0.00 2.38 0.00 0.000 516 0.000 0.086 2759 800 3069 3092 3046 0 0 0 0 0 0 28.83 14.78 28.83

440 -1.04 -78.2 2759 800 3092 3045 59.8 -14.6 79 447 0.00 2.40 0.00 0.000 1030 0.000 0.077 2765 2211 3068 3092 3045 0 0 0 0 0 0 28.83 14.80 28.83

568 -1.04 -78.2 2759 2211 3092 3045 77.4 -13.1 104 574 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2211 3069 3093 3045 0 0 0 0 0 0 28.83 28.83 28.83

695 -1.04 -78.2 2759 2211 3093 3046 93.9 -12.9 129 701 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2211 3069 3093 3045 0 0 0 0 0 0 28.83 28.83 28.83

822 -1.04 -78.2 2759 2211 3093 3045 111.0 -14.1 154 829 0.00 2.45 0.00 0.000 260 0.000 0.106 2756 3611 3069 3093 3045 0 0 0 0 0 0 28.83 14.85 28.83

850 -1.04 -78.2 2756 3611 3093 3045 114.7 -13.5 159 857 0.00 2.35 0.00 0.000 1030 0.000 0.065 2755 2193 3069 3093 3045 0 0 0 0 0 0 28.83 14.89 28.83

983 -1.04 -78.2 2755 2191 3093 3045 131.6 -12.3 176 988 0.00 2.47 0.00 0.000 260 0.000 0.101 2748 3605 3069 3093 3045 0 0 0 0 0 0 28.83 14.86 28.83

994 -1.04 -78.2 2748 3605 3089 3045 133.0 -12.3 177 999 0.00 2.33 0.00 0.000 1030 0.000 0.065 2748 2199 3069 3093 3045 0 0 0 0 0 0 28.83 14.90 28.83

1186 -1.04 -78.2 2748 2196 3092 3045 158.3 -13.2 196 1191 0.00 2.35 0.00 0.000 516 0.000 0.085 2748 802 3068 3093 3044 0 0 0 0 0 0 28.83 14.90 28.83

1217 -1.04 -78.2 2748 802 3093 3044 162.7 -13.5 199 1222 0.00 2.38 0.00 0.000 1030 0.000 0.077 2746 2210 3069 3094 3044 0 0 0 0 0 0 28.83 14.90 28.83

1348 end dive: TARGET_DEPTH_EXCEEDED

state 1348 begin apogee

1352 -0.22 0.0 2747 1990 3094 3044 180.1 -13.4 212 1440 1.02 0.00 82.62 0.924 10246 0.295 0.000 3023 1988 2745 2795 2696 0 0 0 0 0 0 14.79 28.83 14.21

1442 end apogee: CONTROL_FINISHED_OK

state 1442 begin climb

1443 1.04 78.2 3023 1988 2792 2693 184.1 0.0 221 1511 1.30 2.45 57.20 0.964 10756 0.195 0.092 3428 605 2422 2474 2370 0 0 0 0 0 0 14.51 14.38 14.01

1563 1.04 78.2 3429 605 2468 2369 176.6 10.1 233 1568 0.00 2.42 0.00 0.000 1030 0.000 0.072 3428 2012 2418 2468 2369 0 0 0 0 0 0 28.83 14.51 28.83

1755 1.04 78.2 3428 2013 2468 2368 157.6 10.0 252 1760 0.00 2.42 0.00 0.000 260 0.000 0.096 3428 3404 2417 2468 2366 0 0 0 0 0 0 28.83 14.67 28.83

1836 1.04 78.2 3428 3404 2468 2374 149.2 10.6 260 1842 0.00 2.35 0.00 0.000 1030 0.000 0.067 3439 2008 2416 2468 2364 0 0 0 0 0 0 28.83 14.76 28.83

2028 1.04 78.2 3439 2008 2468 2367 130.7 8.7 279 2033 0.00 2.40 0.00 0.000 516 0.000 0.090 3451 597 2417 2468 2367 0 0 0 0 0 0 28.83 14.80 28.83

2130 1.04 78.2 3450 597 2468 2368 120.1 10.8 289 2135 0.00 2.35 0.00 0.000 1030 0.000 0.072 3450 2000 2417 2468 2367 0 0 0 0 0 0 28.83 14.83 28.83

2316 1.04 78.2 3450 2001 2468 2367 101.1 10.0 325 2322 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2001 2417 2468 2367 0 0 0 0 0 0 28.83 28.83 28.83

2443 1.04 78.2 3450 2001 2468 2367 88.3 9.9 350 2450 0.00 2.40 0.00 0.000 260 0.000 0.097 3450 3403 2417 2468 2366 0 0 0 0 0 0 28.83 14.86 28.83

2531 1.04 78.2 3449 3400 2468 2366 78.7 11.7 367 2538 0.00 2.35 0.00 0.000 1030 0.000 0.068 3461 1993 2417 2468 2366 0 0 0 0 0 0 28.83 14.90 28.83

2659 1.04 78.2 3461 1994 2468 2367 66.4 8.6 392 2665 0.00 2.38 0.00 0.000 516 0.000 0.090 3472 585 2417 2468 2366 0 0 0 0 0 0 28.83 14.89 28.83

2707 1.04 78.2 3472 587 2468 2367 62.6 8.1 401 2714 0.12 2.38 0.00 0.000 5126 0.358 0.073 3449 2008 2417 2468 2366 0 0 0 0 0 0 14.76 14.91 28.83

2836 1.06 93.5 3449 2008 2468 2366 53.6 6.9 426 2854 0.00 2.47 12.20 0.834 8452 0.000 0.096 3449 3404 2358 2413 2303 0 0 0 0 0 0 28.83 14.85 14.50

2916 1.06 93.5 3449 3404 2410 2299 47.4 8.0 441 2922 0.00 2.35 0.00 0.000 1030 0.000 0.067 3459 1995 2354 2410 2299 0 0 0 0 0 0 28.83 14.88 28.83

2984 1.06 93.5 3459 1995 2410 2299 41.6 8.8 454 2990 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 1995 2354 2410 2299 0 0 0 0 0 0 28.83 28.83 28.83

3051 1.06 93.5 3459 1996 2410 2299 36.2 8.1 467 3058 0.00 2.38 0.00 0.000 516 0.000 0.090 3469 593 2354 2410 2298 0 0 0 0 0 0 28.83 14.87 28.83

3104 1.06 93.5 3470 593 2409 2299 32.0 8.4 477 3111 0.00 2.35 0.00 0.000 1030 0.000 0.073 3470 2001 2353 2408 2299 0 0 0 0 0 0 28.83 14.89 28.83

3172 1.06 93.5 3470 2001 2409 2299 26.3 8.7 490 3179 0.00 2.40 0.00 0.000 260 0.000 0.096 3470 3408 2354 2409 2299 0 0 0 0 0 0 28.83 14.88 28.83

3366 1.07 98.1 3469 3408 2410 2298 10.5 7.7 528 3373 0.12 2.35 0.00 0.000 5126 0.376 0.067 3457 1997 2354 2410 2299 0 0 0 0 0 0 14.76 14.92 28.83

3435 1.16 160.3 3457 1997 2409 2298 7.5 3.7 541 3470 0.00 2.45 29.10 0.104 8708 0.000 0.091 3468 594 2097 2156 2039 0 0 0 0 0 0 28.83 14.88 14.88

3516 1.20 184.3 3468 594 2167 2046 3.5 6.4 556 3534 0.00 2.38 12.18 0.090 9222 0.000 0.073 3468 2003 1996 2057 1936 0 0 0 0 0 0 28.83 14.90 14.89

3539 end climb: SURFACE_DEPTH_REACHED

state 3540 begin surface coast

3561 end surface coast: CONTROL_FINISHED_OK

state 3562 begin surface

ID	217	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	1	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	120
DIVE	10	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	5
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_TGT	180	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	32	XPDR_VALID	1
D_ABORT	1090	SM_CC	290	R_STBD_OVSHOOT	35	XPDR_INHIBIT	90
D_NO_BLEED	500	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	25	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_YINT	-0.1
T_BOOST	2	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	0	C_VBD	2749	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_DIVE	75	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_MISSION	85	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN	540	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_CHARGE	-276.51151	DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	0	T_RSLEEP	3	PITCH_W_GAIN	0	PHONE_DEVICE	49
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	50	SIM_W	0
RELAUNCH	1	PITCH_MIN	200	MINV_24V	12	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_10V	12	SEABIRD_T_G	0.0043902649
MAX_BUOY	80	C_PITCH	3106	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_J	2.9521423e-06
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.840004	SEABIRD_C_G	-9.69524
RHO	1.023	P_OVSHOOT_WITHG	0.079999998	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS	51960	PITCH_GAIN	22.5	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
MASS_COMP	0	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
NAV_MODE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_MAXERRORS	1	COMPASS_USE	0	SC_PROFILE	3.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_BOTTOM_TURN_MARGIN	15
HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_TOP_TURN_MARGIN	0

GPS1	240414,021135,4744.339,-12224.523,37,0.8,37,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.800,-12224.700
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.031,-0.180
_SM_DEPTHo	1.24	KALMAN_X	282.2,-220.0,283.8,125.7,115.2
_SM_ANGLEo	-73.1	KALMAN_Y	2001.8,-201.5,764.8,376.9,369.7
GPS2	240414,022056,4744.343,-12224.573,4,0.8,4,16.3	MHEAD_RNG_PITCHd_Wd	173.5,2863,-20.8,-8.000,-23.67,1492
SPEED_LIMITS	0.080,0.183	D_GRID	180

FINISH	0.5,1.008658	_24V_AH	14.0,0.942
SM_CCo	3578,49.45,0.087,0,0,1566,290.19	_10V_AH	14.0,0.401
SM_GC	2.10,9.62,0.32,49.45,0.121,0.106,0.087,214,2205,1566,-9.00,-0.88,290.19,0,0,0,0,0,0,14.87,14.88,14.87	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,240414,010115	FG_AHR_10Vo	0.000
TT8_MAMPS	0.035952,0.035952	MEM	322772
HUMID	31.45	DATA_FILE_SIZE	13431,564
INTERNAL_PRESSURE	8.99215	CAP_FILE_SIZE	104517,0
TCM_TEMP	17.00	CFSIZE	1024409600,1021558784
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	120.3,76.2	GPS	240414,032259,4743.808,-12224.567,3,1.5,3,16.3
SC_FREEKB	4016864

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	445	153.34	nil	0	0	0.00
Roll_motor	72	106	107.97	nil	0	0	0.00
VBD_pump_during_apogee	193	963	2608.51	nil	0	0	0.00
VBD_pump_during_surface	49	87	60.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	18	6.61	nil	0	0	0.00
Iridium_during_connect	38	160	85.87	SciCon	3558	5	253.79
Iridium_during_xfer	400	223	1250.99	nil	0	0	0.00
Transponder_ping	0	420	2.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	19	1.63
TT8	1303	21	395.86
LPSleep	1022	2	31.34
TT8_Active	380	21	115.58
TT8_Sampling	1445	40	818.28
TT8_CF8	50	53	37.61
TT8_Kalman	33	56	26.45
Analog_circuits	912	15	191.73
GPS_charging	0	0	0.00
Compass	922	0	0.00
RAFOS	0	0	0.00
Transponder	5	30	2.36

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-1.04	-78.2	204	2211	550	461	0.0	0.0	0	116	0.00	0.00	-92.90	0.000	16390	0.000	0.000	204	2212	3068	3081	3056	0	0	0	0	0	0	28.83	28.83	14.92
118	-1.04	-78.2	204	2212	3081	3056	3.6	-7.8	18	137	12.40	2.45	0.00	0.000	2564	0.445	0.085	2760	794	3069	3085	3053	0	0	0	0	0	0	14.51	14.69	28.83
223	-1.04	-78.2	2760	794	3090	3048	27.9	-16.8	38	230	0.00	2.40	0.00	0.000	1030	0.000	0.080	2760	2191	3069	3090	3048	0	0	0	0	0	0	28.83	14.73	28.83
291	-1.04	-78.2	2760	2192	3090	3046	38.3	-16.0	51	298	0.00	2.50	0.00	0.000	260	0.000	0.106	2759	3611	3069	3092	3046	0	0	0	0	0	0	28.83	14.74	28.83
339	-1.04	-78.2	2759	3611	3091	3046	45.6	-14.6	60	346	0.00	2.38	0.00	0.000	1030	0.000	0.065	2759	2193	3068	3091	3046	0	0	0	0	0	0	28.83	14.80	28.83
407	-1.04	-78.2	2759	2190	3092	3046	55.2	-13.5	73	414	0.00	2.38	0.00	0.000	516	0.000	0.086	2759	800	3069	3092	3046	0	0	0	0	0	0	28.83	14.78	28.83
440	-1.04	-78.2	2759	800	3092	3045	59.8	-14.6	79	447	0.00	2.40	0.00	0.000	1030	0.000	0.077	2765	2211	3068	3092	3045	0	0	0	0	0	0	28.83	14.80	28.83
568	-1.04	-78.2	2759	2211	3092	3045	77.4	-13.1	104	574	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2211	3069	3093	3045	0	0	0	0	0	0	28.83	28.83	28.83
695	-1.04	-78.2	2759	2211	3093	3046	93.9	-12.9	129	701	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2211	3069	3093	3045	0	0	0	0	0	0	28.83	28.83	28.83
822	-1.04	-78.2	2759	2211	3093	3045	111.0	-14.1	154	829	0.00	2.45	0.00	0.000	260	0.000	0.106	2756	3611	3069	3093	3045	0	0	0	0	0	0	28.83	14.85	28.83
850	-1.04	-78.2	2756	3611	3093	3045	114.7	-13.5	159	857	0.00	2.35	0.00	0.000	1030	0.000	0.065	2755	2193	3069	3093	3045	0	0	0	0	0	0	28.83	14.89	28.83
983	-1.04	-78.2	2755	2191	3093	3045	131.6	-12.3	176	988	0.00	2.47	0.00	0.000	260	0.000	0.101	2748	3605	3069	3093	3045	0	0	0	0	0	0	28.83	14.86	28.83
994	-1.04	-78.2	2748	3605	3089	3045	133.0	-12.3	177	999	0.00	2.33	0.00	0.000	1030	0.000	0.065	2748	2199	3069	3093	3045	0	0	0	0	0	0	28.83	14.90	28.83
1186	-1.04	-78.2	2748	2196	3092	3045	158.3	-13.2	196	1191	0.00	2.35	0.00	0.000	516	0.000	0.085	2748	802	3068	3093	3044	0	0	0	0	0	0	28.83	14.90	28.83
1217	-1.04	-78.2	2748	802	3093	3044	162.7	-13.5	199	1222	0.00	2.38	0.00	0.000	1030	0.000	0.077	2746	2210	3069	3094	3044	0	0	0	0	0	0	28.83	14.90	28.83
1348	end dive: TARGET_DEPTH_EXCEEDED
state	1348	begin apogee
1352	-0.22	0.0	2747	1990	3094	3044	180.1	-13.4	212	1440	1.02	0.00	82.62	0.924	10246	0.295	0.000	3023	1988	2745	2795	2696	0	0	0	0	0	0	14.79	28.83	14.21
1442	end apogee: CONTROL_FINISHED_OK
state	1442	begin climb
1443	1.04	78.2	3023	1988	2792	2693	184.1	0.0	221	1511	1.30	2.45	57.20	0.964	10756	0.195	0.092	3428	605	2422	2474	2370	0	0	0	0	0	0	14.51	14.38	14.01
1563	1.04	78.2	3429	605	2468	2369	176.6	10.1	233	1568	0.00	2.42	0.00	0.000	1030	0.000	0.072	3428	2012	2418	2468	2369	0	0	0	0	0	0	28.83	14.51	28.83
1755	1.04	78.2	3428	2013	2468	2368	157.6	10.0	252	1760	0.00	2.42	0.00	0.000	260	0.000	0.096	3428	3404	2417	2468	2366	0	0	0	0	0	0	28.83	14.67	28.83
1836	1.04	78.2	3428	3404	2468	2374	149.2	10.6	260	1842	0.00	2.35	0.00	0.000	1030	0.000	0.067	3439	2008	2416	2468	2364	0	0	0	0	0	0	28.83	14.76	28.83
2028	1.04	78.2	3439	2008	2468	2367	130.7	8.7	279	2033	0.00	2.40	0.00	0.000	516	0.000	0.090	3451	597	2417	2468	2367	0	0	0	0	0	0	28.83	14.80	28.83
2130	1.04	78.2	3450	597	2468	2368	120.1	10.8	289	2135	0.00	2.35	0.00	0.000	1030	0.000	0.072	3450	2000	2417	2468	2367	0	0	0	0	0	0	28.83	14.83	28.83
2316	1.04	78.2	3450	2001	2468	2367	101.1	10.0	325	2322	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2001	2417	2468	2367	0	0	0	0	0	0	28.83	28.83	28.83
2443	1.04	78.2	3450	2001	2468	2367	88.3	9.9	350	2450	0.00	2.40	0.00	0.000	260	0.000	0.097	3450	3403	2417	2468	2366	0	0	0	0	0	0	28.83	14.86	28.83
2531	1.04	78.2	3449	3400	2468	2366	78.7	11.7	367	2538	0.00	2.35	0.00	0.000	1030	0.000	0.068	3461	1993	2417	2468	2366	0	0	0	0	0	0	28.83	14.90	28.83
2659	1.04	78.2	3461	1994	2468	2367	66.4	8.6	392	2665	0.00	2.38	0.00	0.000	516	0.000	0.090	3472	585	2417	2468	2366	0	0	0	0	0	0	28.83	14.89	28.83
2707	1.04	78.2	3472	587	2468	2367	62.6	8.1	401	2714	0.12	2.38	0.00	0.000	5126	0.358	0.073	3449	2008	2417	2468	2366	0	0	0	0	0	0	14.76	14.91	28.83
2836	1.06	93.5	3449	2008	2468	2366	53.6	6.9	426	2854	0.00	2.47	12.20	0.834	8452	0.000	0.096	3449	3404	2358	2413	2303	0	0	0	0	0	0	28.83	14.85	14.50
2916	1.06	93.5	3449	3404	2410	2299	47.4	8.0	441	2922	0.00	2.35	0.00	0.000	1030	0.000	0.067	3459	1995	2354	2410	2299	0	0	0	0	0	0	28.83	14.88	28.83
2984	1.06	93.5	3459	1995	2410	2299	41.6	8.8	454	2990	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	1995	2354	2410	2299	0	0	0	0	0	0	28.83	28.83	28.83
3051	1.06	93.5	3459	1996	2410	2299	36.2	8.1	467	3058	0.00	2.38	0.00	0.000	516	0.000	0.090	3469	593	2354	2410	2298	0	0	0	0	0	0	28.83	14.87	28.83
3104	1.06	93.5	3470	593	2409	2299	32.0	8.4	477	3111	0.00	2.35	0.00	0.000	1030	0.000	0.073	3470	2001	2353	2408	2299	0	0	0	0	0	0	28.83	14.89	28.83
3172	1.06	93.5	3470	2001	2409	2299	26.3	8.7	490	3179	0.00	2.40	0.00	0.000	260	0.000	0.096	3470	3408	2354	2409	2299	0	0	0	0	0	0	28.83	14.88	28.83
3366	1.07	98.1	3469	3408	2410	2298	10.5	7.7	528	3373	0.12	2.35	0.00	0.000	5126	0.376	0.067	3457	1997	2354	2410	2299	0	0	0	0	0	0	14.76	14.92	28.83
3435	1.16	160.3	3457	1997	2409	2298	7.5	3.7	541	3470	0.00	2.45	29.10	0.104	8708	0.000	0.091	3468	594	2097	2156	2039	0	0	0	0	0	0	28.83	14.88	14.88
3516	1.20	184.3	3468	594	2167	2046	3.5	6.4	556	3534	0.00	2.38	12.18	0.090	9222	0.000	0.073	3468	2003	1996	2057	1936	0	0	0	0	0	0	28.83	14.90	14.89
3539	end climb: SURFACE_DEPTH_REACHED
state	3540	begin surface coast
3561	end surface coast: CONTROL_FINISHED_OK
state	3562	begin surface