Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 601 HD_C 9.9999997e-06 ROLL_MAX 3866 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2165 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4743 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12223.5 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 300 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 38 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 44 XPDR_VALID 2

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.25799999

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2857 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 86 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -1517.6766 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 145 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 MINV_24V 19 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3948 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3380 FG_AHR_10V 0 SEABIRD_T_G 0.0043827128

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062866701

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5612169e-05

RHO 1.0237 P_OVSHOOT 0.079999998 PRESSURE_YINT -49.106464 SEABIRD_T_J 3.209283e-06

MASS 51614 PITCH_GAIN 40 PRESSURE_SLOPE 0.0001161203 SEABIRD_C_G -9.733285

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1253656

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011628612

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016996283

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 232 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 95 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 145 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT 4743

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223.5

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 180

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 20 T_DIVE 86

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001161203 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -49.106464 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.079999998 T_GPS_CHARGE -1517.6766

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 601 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT -0.25799999 RHO 1.0237 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3380 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2165 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2857 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3866 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51614 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 232 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 44 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.733285 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1253656 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0011628612 VBD_TIMEOUT 720

DIVE 15 NOCOMM_ACTION 0 SEABIRD_C_J 0.00016996283 W_ADJ_DBAND 0

D_ABORT 300 N_DIVES 0 SEABIRD_T_G 0.0043827128 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062866701 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.5612169e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.209283e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,075536,4743.441,-12224.692,31,1.1,31,16.6 TGT_NAME SE

_CALLS 2 TGT_LATLONG 4743.000,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.205,0.034

_SM_DEPTHo 1.27 KALMAN_X -4379.4,161.7,-426.5,4596.2,-1130.1

_SM_ANGLEo -80.0 KALMAN_Y -1771.1,1855.4,317.5,736.2,-1206.6

GPS2 150114,080226,4743.410,-12224.729,5,1.0,5,16.6 MHEAD_RNG_PITCHd_Wd 77.3,1709,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.7,1.022243 _10V_AH 10.5,0.467

SM_CCo 3387,57.95,0.057,0,0,1836,250.21 FG_AHR_24Vo 0.000

SM_GC 1.48,8.88,2.33,57.95,0.047,0.036,0.057,205,2250,1836,-9.84,-1.22,250.21,0,0,0,0,0,0,26.39,26.39,26.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,070740 MEM 323580

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 20098,477

HUMID 41.61 CAP_FILE_SIZE 78890,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091024384

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.180,205.1,1

ALTIM_BOTTOM_PING 105.9,7.3 GPS 150114,090206,4743.046,-12224.413,41,0.8,41,16.6

_24V_AH 24.3,1.071

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 244 133.55 SBE_CT 319 24 186.40

Roll_motor 78 72 139.29 nil 0 0 0.00

VBD_pump_during_apogee 178 731 3164.67 nil 0 0 0.00

VBD_pump_during_surface 57 56 79.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 146.61 nil 0 0 0.00

Iridium_during_connect 81 160 315.44 nil 0 0 0.00

Iridium_during_xfer 135 223 732.04 nil 0 0 0.00

Transponder_ping 1 420 17.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.66

TT8 1215 14 191.00

LPSleep 1119 2 25.73

TT8_Active 387 14 57.78

TT8_Sampling 1113 37 437.47

TT8_CF8 39 47 19.68

TT8_Kalman 33 59 20.62

Analog_circuits 892 12 112.49

GPS_charging 0 0 0.00

Compass 800 15 132.26

RAFOS 0 0 0.00

Transponder 14 30 4.54

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.49 -117.2 198 2269 1852 1785 0.0 0.0 0 82 0.00 0.00 -60.33 0.000 16390 0.000 0.000 198 2269 3333 3246 3421 0 0 0 0 0 0 28.83 28.83 26.41

84 -0.49 -117.2 198 2269 3247 3421 3.2 -3.3 12 102 12.00 2.20 0.00 0.000 2308 0.245 0.054 3188 3649 3335 3249 3421 0 0 0 0 0 0 25.82 26.03 28.83

329 -0.49 -117.2 3188 3649 3260 3413 34.1 -10.4 60 337 0.08 2.17 0.00 0.000 3078 0.196 0.044 3201 2256 3336 3261 3412 0 0 0 0 0 0 26.12 26.22 28.83

367 -0.49 -117.2 2240 2254 3253 3406 38.2 -10.9 67 375 0.00 2.22 0.00 0.000 260 0.000 0.058 3193 3649 3336 3265 3408 0 0 0 0 0 0 28.83 26.20 28.83

421 -0.49 -117.2 2240 3648 3253 3406 44.2 -11.6 77 428 0.00 2.17 0.00 0.000 1030 0.000 0.041 3193 2248 3336 3265 3408 0 0 0 0 0 0 28.83 26.26 28.83

460 -0.49 -117.2 3193 2247 3265 3408 48.4 -10.6 84 465 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2247 3337 3266 3408 0 0 0 0 0 0 28.83 28.83 28.83

497 -0.49 -117.2 3193 2247 3265 3408 52.7 -11.2 91 503 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2248 3337 3266 3408 0 0 0 0 0 0 28.83 28.83 28.83

566 -0.49 -117.2 3193 2248 3266 3408 60.2 -10.4 104 572 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2248 3337 3266 3408 0 0 0 0 0 0 28.83 28.83 28.83

633 -0.49 -117.2 2224 2246 3253 3406 67.3 -10.5 117 639 0.00 2.12 0.00 0.000 516 0.000 0.047 3193 834 3337 3266 3408 0 0 0 0 0 0 28.83 26.32 28.83

645 -0.49 -117.2 3192 834 3265 3408 68.5 -10.2 119 653 0.10 2.17 0.00 0.000 3078 0.198 0.046 3205 2245 3337 3266 3408 0 0 0 0 0 0 26.21 26.33 28.83

716 -0.49 -117.2 3205 2245 3266 3408 75.5 -10.1 132 723 0.00 2.20 0.00 0.000 260 0.000 0.057 3196 3658 3337 3266 3408 0 0 0 0 0 0 28.83 26.32 28.83

753 -0.49 -117.2 2224 3657 3255 3406 79.4 -10.8 139 761 0.00 2.17 0.00 0.000 1030 0.000 0.040 3196 2243 3337 3267 3408 0 0 0 0 0 0 28.83 26.36 28.83

824 -0.49 -117.2 3196 2242 3268 3408 86.4 -9.4 152 831 0.00 2.12 0.00 0.000 516 0.000 0.049 3196 828 3337 3268 3407 0 0 0 0 0 0 28.83 26.36 28.83

933 -0.49 -117.2 2240 827 3255 3405 97.7 -9.5 173 940 0.08 2.20 0.00 0.000 3078 0.219 0.045 3201 2257 3337 3268 3407 0 0 0 0 0 0 26.28 26.39 28.83

1002 -0.49 -117.2 3201 2257 3268 3407 103.6 -8.3 182 1006 0.00 2.17 0.00 0.000 260 0.000 0.055 3192 3664 3337 3268 3407 0 0 0 0 0 0 28.83 26.39 28.83

1061 -0.49 -117.2 3192 3663 3268 3407 109.1 -9.7 187 1065 0.00 2.17 0.00 0.000 1030 0.000 0.038 3192 2235 3337 3268 3407 0 0 0 0 0 0 28.83 26.43 28.83

1186 -0.49 -117.2 3192 2235 3268 3407 121.5 -9.6 199 1190 0.00 2.25 0.00 0.000 260 0.000 0.056 3182 3664 3337 3268 3406 0 0 0 0 0 0 28.83 26.42 28.83

1224 -0.49 -117.2 2280 3663 3257 3405 125.3 -10.6 202 1233 0.05 2.20 0.00 0.000 3078 0.166 0.037 3198 2252 3337 3268 3406 0 0 0 0 0 0 26.35 26.46 28.83

1352 -0.49 -117.2 3197 2253 3269 3407 137.9 -9.2 215 1356 0.00 2.20 0.00 0.000 260 0.000 0.056 3189 3656 3337 3269 3406 0 0 0 0 0 0 28.83 26.44 28.83

1438 -0.49 -117.2 3189 3656 3268 3407 145.8 -8.7 223 1442 0.08 2.15 0.00 0.000 3078 0.195 0.038 3203 2247 3338 3269 3407 0 0 0 0 0 0 26.39 26.48 28.83

1563 -0.49 -117.2 3203 2247 3269 3406 156.6 -9.2 235 1567 0.00 2.10 0.00 0.000 516 0.000 0.044 3204 834 3337 3269 3406 0 0 0 0 0 0 28.83 26.49 28.83

1668 -0.49 -117.2 3204 833 3269 3406 166.9 -10.0 245 1672 0.00 2.17 0.00 0.000 1030 0.000 0.044 3195 2257 3337 3269 3406 0 0 0 0 0 0 28.83 26.51 28.83

1793 -0.49 -117.2 3195 2258 3269 3406 178.6 -9.2 257 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2258 3337 3269 3406 0 0 0 0 0 0 28.83 28.83 28.83

1812 end dive: TARGET_DEPTH_EXCEEDED

state 1812 begin apogee

1816 -0.12 0.0 3195 2146 3269 3406 180.6 -9.1 259 1908 0.40 0.00 86.80 0.731 10246 0.150 0.000 3321 2146 2857 2828 2887 0 0 0 0 0 0 26.41 28.83 24.82

1909 end apogee: CONTROL_FINISHED_OK

state 1909 begin climb

1910 0.49 117.2 3321 2145 2828 2887 183.1 0.0 268 2009 0.62 2.38 91.28 0.705 10500 0.117 0.050 3520 3568 2377 2413 2342 0 0 0 0 0 0 25.29 24.84 24.32

2032 0.49 117.2 3520 3568 2409 2341 173.0 11.3 280 2036 0.00 2.25 0.00 0.000 1030 0.000 0.037 3529 2166 2375 2409 2341 0 0 0 0 0 0 28.83 25.10 28.83

2157 0.49 117.2 3528 2165 2407 2338 158.9 11.3 292 2161 0.00 2.20 0.00 0.000 516 0.000 0.047 3538 752 2373 2407 2339 0 0 0 0 0 0 28.83 25.60 28.83

2243 0.49 117.2 3538 752 2407 2338 149.0 11.4 300 2252 0.00 2.20 0.00 0.000 1030 0.000 0.037 3538 2171 2372 2407 2337 0 0 0 0 0 0 28.83 25.79 28.83

2372 0.49 117.2 3538 2172 2407 2336 132.6 12.7 313 2376 0.00 2.17 0.00 0.000 260 0.000 0.051 3539 3565 2371 2407 2336 0 0 0 0 0 0 28.83 25.92 28.83

2410 0.49 117.2 2866 3564 2374 2331 127.9 12.7 316 2418 0.00 2.22 0.00 0.000 1030 0.000 0.040 3547 2168 2369 2403 2336 0 0 0 0 0 0 28.83 25.99 28.83

2538 0.49 117.2 3547 2167 2404 2336 111.5 13.0 329 2542 0.00 2.17 0.00 0.000 516 0.000 0.048 3558 750 2370 2404 2336 0 0 0 0 0 0 28.83 26.08 28.83

2593 0.49 117.2 3557 749 2405 2336 104.2 13.0 334 2597 0.00 2.17 0.00 0.000 1030 0.000 0.038 3557 2170 2370 2405 2336 0 0 0 0 0 0 28.83 26.13 28.83

2718 0.49 117.2 3557 2171 2405 2335 87.5 13.4 355 2725 0.00 2.17 0.00 0.000 260 0.000 0.052 3557 3567 2369 2404 2335 0 0 0 0 0 0 28.83 26.16 28.83

2781 0.49 117.2 2768 3566 2367 2330 78.3 14.4 367 2789 0.00 2.17 0.00 0.000 1030 0.000 0.041 3567 2156 2369 2403 2335 0 0 0 0 0 0 28.83 26.22 28.83

2851 0.49 117.2 3567 2155 2403 2335 68.7 13.2 380 2857 0.00 2.12 0.00 0.000 516 0.000 0.047 3577 752 2369 2403 2335 0 0 0 0 0 0 28.83 26.24 28.83

2903 0.49 117.2 3576 752 2404 2335 61.5 13.5 390 2911 0.10 2.15 0.00 0.000 5126 0.174 0.036 3552 2172 2369 2404 2335 0 0 0 0 0 0 26.17 26.27 28.83

2972 0.49 117.2 3552 2172 2404 2335 52.1 13.6 403 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2172 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3041 0.49 117.2 3552 2172 2404 2335 43.7 13.2 416 3047 0.00 2.20 0.00 0.000 516 0.000 0.050 3561 753 2369 2404 2335 0 0 0 0 0 0 28.83 26.29 28.83

3068 0.49 117.2 2768 752 2370 2330 40.1 13.3 421 3075 0.00 2.15 0.00 0.000 1030 0.000 0.036 3561 2172 2369 2404 2335 0 0 0 0 0 0 28.83 26.32 28.83

3107 0.49 117.2 3561 2173 2404 2335 35.1 13.5 428 3112 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2173 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3144 0.49 117.2 3561 2173 2404 2335 30.1 13.5 435 3150 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2173 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3182 0.49 117.2 3561 2173 2404 2334 25.2 13.1 442 3187 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2173 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3218 0.49 117.2 2784 2171 2371 2330 20.3 13.6 449 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2173 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3256 0.49 117.2 3561 2173 2404 2335 15.4 13.0 456 3262 0.00 2.15 0.00 0.000 260 0.000 0.051 3561 3566 2369 2404 2335 0 0 0 0 0 0 28.83 26.34 28.83

3283 0.49 117.2 2784 3565 2368 2330 11.7 13.7 461 3290 0.08 2.15 0.00 0.000 5126 0.200 0.039 3556 2161 2368 2402 2335 0 0 0 0 0 0 26.27 26.38 28.83

3322 0.49 117.2 3556 2161 2403 2335 6.2 13.7 468 3329 0.00 2.12 0.00 0.000 516 0.000 0.047 3566 754 2369 2403 2335 0 0 0 0 0 0 28.83 26.37 28.83

3349 end climb: SURFACE_DEPTH_REACHED

state 3349 begin surface coast

3369 end surface coast: CONTROL_FINISHED_OK

state 3370 begin surface

ID	601	HD_C	9.9999997e-06	ROLL_MAX	3866	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2165	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4743	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12223.5	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	300	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	38	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	44	XPDR_VALID	2
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.25799999
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2857	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	86	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-1517.6766	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	145	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	MINV_24V	19	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3948	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3380	FG_AHR_10V	0	SEABIRD_T_G	0.0043827128
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062866701
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5612169e-05
RHO	1.0237	P_OVSHOOT	0.079999998	PRESSURE_YINT	-49.106464	SEABIRD_T_J	3.209283e-06
MASS	51614	PITCH_GAIN	40	PRESSURE_SLOPE	0.0001161203	SEABIRD_C_G	-9.733285
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1253656
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011628612
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016996283
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	232	ALTIM_TOP_PING_RANGE	0

GPS1	150114,075536,4743.441,-12224.692,31,1.1,31,16.6	TGT_NAME	SE
_CALLS	2	TGT_LATLONG	4743.000,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.205,0.034
_SM_DEPTHo	1.27	KALMAN_X	-4379.4,161.7,-426.5,4596.2,-1130.1
_SM_ANGLEo	-80.0	KALMAN_Y	-1771.1,1855.4,317.5,736.2,-1206.6
GPS2	150114,080226,4743.410,-12224.729,5,1.0,5,16.6	MHEAD_RNG_PITCHd_Wd	77.3,1709,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.7,1.022243	_10V_AH	10.5,0.467
SM_CCo	3387,57.95,0.057,0,0,1836,250.21	FG_AHR_24Vo	0.000
SM_GC	1.48,8.88,2.33,57.95,0.047,0.036,0.057,205,2250,1836,-9.84,-1.22,250.21,0,0,0,0,0,0,26.39,26.39,26.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,070740	MEM	323580
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	20098,477
HUMID	41.61	CAP_FILE_SIZE	78890,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091024384
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.180,205.1,1
ALTIM_BOTTOM_PING	105.9,7.3	GPS	150114,090206,4743.046,-12224.413,41,0.8,41,16.6
_24V_AH	24.3,1.071

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	244	133.55	SBE_CT	319	24	186.40
Roll_motor	78	72	139.29	nil	0	0	0.00
VBD_pump_during_apogee	178	731	3164.67	nil	0	0	0.00
VBD_pump_during_surface	57	56	79.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	146.61	nil	0	0	0.00
Iridium_during_connect	81	160	315.44	nil	0	0	0.00
Iridium_during_xfer	135	223	732.04	nil	0	0	0.00
Transponder_ping	1	420	17.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.66
TT8	1215	14	191.00
LPSleep	1119	2	25.73
TT8_Active	387	14	57.78
TT8_Sampling	1113	37	437.47
TT8_CF8	39	47	19.68
TT8_Kalman	33	59	20.62
Analog_circuits	892	12	112.49
GPS_charging	0	0	0.00
Compass	800	15	132.26
RAFOS	0	0	0.00
Transponder	14	30	4.54

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.49	-117.2	198	2269	1852	1785	0.0	0.0	0	82	0.00	0.00	-60.33	0.000	16390	0.000	0.000	198	2269	3333	3246	3421	0	0	0	0	0	0	28.83	28.83	26.41
84	-0.49	-117.2	198	2269	3247	3421	3.2	-3.3	12	102	12.00	2.20	0.00	0.000	2308	0.245	0.054	3188	3649	3335	3249	3421	0	0	0	0	0	0	25.82	26.03	28.83
329	-0.49	-117.2	3188	3649	3260	3413	34.1	-10.4	60	337	0.08	2.17	0.00	0.000	3078	0.196	0.044	3201	2256	3336	3261	3412	0	0	0	0	0	0	26.12	26.22	28.83
367	-0.49	-117.2	2240	2254	3253	3406	38.2	-10.9	67	375	0.00	2.22	0.00	0.000	260	0.000	0.058	3193	3649	3336	3265	3408	0	0	0	0	0	0	28.83	26.20	28.83
421	-0.49	-117.2	2240	3648	3253	3406	44.2	-11.6	77	428	0.00	2.17	0.00	0.000	1030	0.000	0.041	3193	2248	3336	3265	3408	0	0	0	0	0	0	28.83	26.26	28.83
460	-0.49	-117.2	3193	2247	3265	3408	48.4	-10.6	84	465	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2247	3337	3266	3408	0	0	0	0	0	0	28.83	28.83	28.83
497	-0.49	-117.2	3193	2247	3265	3408	52.7	-11.2	91	503	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2248	3337	3266	3408	0	0	0	0	0	0	28.83	28.83	28.83
566	-0.49	-117.2	3193	2248	3266	3408	60.2	-10.4	104	572	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2248	3337	3266	3408	0	0	0	0	0	0	28.83	28.83	28.83
633	-0.49	-117.2	2224	2246	3253	3406	67.3	-10.5	117	639	0.00	2.12	0.00	0.000	516	0.000	0.047	3193	834	3337	3266	3408	0	0	0	0	0	0	28.83	26.32	28.83
645	-0.49	-117.2	3192	834	3265	3408	68.5	-10.2	119	653	0.10	2.17	0.00	0.000	3078	0.198	0.046	3205	2245	3337	3266	3408	0	0	0	0	0	0	26.21	26.33	28.83
716	-0.49	-117.2	3205	2245	3266	3408	75.5	-10.1	132	723	0.00	2.20	0.00	0.000	260	0.000	0.057	3196	3658	3337	3266	3408	0	0	0	0	0	0	28.83	26.32	28.83
753	-0.49	-117.2	2224	3657	3255	3406	79.4	-10.8	139	761	0.00	2.17	0.00	0.000	1030	0.000	0.040	3196	2243	3337	3267	3408	0	0	0	0	0	0	28.83	26.36	28.83
824	-0.49	-117.2	3196	2242	3268	3408	86.4	-9.4	152	831	0.00	2.12	0.00	0.000	516	0.000	0.049	3196	828	3337	3268	3407	0	0	0	0	0	0	28.83	26.36	28.83
933	-0.49	-117.2	2240	827	3255	3405	97.7	-9.5	173	940	0.08	2.20	0.00	0.000	3078	0.219	0.045	3201	2257	3337	3268	3407	0	0	0	0	0	0	26.28	26.39	28.83
1002	-0.49	-117.2	3201	2257	3268	3407	103.6	-8.3	182	1006	0.00	2.17	0.00	0.000	260	0.000	0.055	3192	3664	3337	3268	3407	0	0	0	0	0	0	28.83	26.39	28.83
1061	-0.49	-117.2	3192	3663	3268	3407	109.1	-9.7	187	1065	0.00	2.17	0.00	0.000	1030	0.000	0.038	3192	2235	3337	3268	3407	0	0	0	0	0	0	28.83	26.43	28.83
1186	-0.49	-117.2	3192	2235	3268	3407	121.5	-9.6	199	1190	0.00	2.25	0.00	0.000	260	0.000	0.056	3182	3664	3337	3268	3406	0	0	0	0	0	0	28.83	26.42	28.83
1224	-0.49	-117.2	2280	3663	3257	3405	125.3	-10.6	202	1233	0.05	2.20	0.00	0.000	3078	0.166	0.037	3198	2252	3337	3268	3406	0	0	0	0	0	0	26.35	26.46	28.83
1352	-0.49	-117.2	3197	2253	3269	3407	137.9	-9.2	215	1356	0.00	2.20	0.00	0.000	260	0.000	0.056	3189	3656	3337	3269	3406	0	0	0	0	0	0	28.83	26.44	28.83
1438	-0.49	-117.2	3189	3656	3268	3407	145.8	-8.7	223	1442	0.08	2.15	0.00	0.000	3078	0.195	0.038	3203	2247	3338	3269	3407	0	0	0	0	0	0	26.39	26.48	28.83
1563	-0.49	-117.2	3203	2247	3269	3406	156.6	-9.2	235	1567	0.00	2.10	0.00	0.000	516	0.000	0.044	3204	834	3337	3269	3406	0	0	0	0	0	0	28.83	26.49	28.83
1668	-0.49	-117.2	3204	833	3269	3406	166.9	-10.0	245	1672	0.00	2.17	0.00	0.000	1030	0.000	0.044	3195	2257	3337	3269	3406	0	0	0	0	0	0	28.83	26.51	28.83
1793	-0.49	-117.2	3195	2258	3269	3406	178.6	-9.2	257	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2258	3337	3269	3406	0	0	0	0	0	0	28.83	28.83	28.83
1812	end dive: TARGET_DEPTH_EXCEEDED
state	1812	begin apogee
1816	-0.12	0.0	3195	2146	3269	3406	180.6	-9.1	259	1908	0.40	0.00	86.80	0.731	10246	0.150	0.000	3321	2146	2857	2828	2887	0	0	0	0	0	0	26.41	28.83	24.82
1909	end apogee: CONTROL_FINISHED_OK
state	1909	begin climb
1910	0.49	117.2	3321	2145	2828	2887	183.1	0.0	268	2009	0.62	2.38	91.28	0.705	10500	0.117	0.050	3520	3568	2377	2413	2342	0	0	0	0	0	0	25.29	24.84	24.32
2032	0.49	117.2	3520	3568	2409	2341	173.0	11.3	280	2036	0.00	2.25	0.00	0.000	1030	0.000	0.037	3529	2166	2375	2409	2341	0	0	0	0	0	0	28.83	25.10	28.83
2157	0.49	117.2	3528	2165	2407	2338	158.9	11.3	292	2161	0.00	2.20	0.00	0.000	516	0.000	0.047	3538	752	2373	2407	2339	0	0	0	0	0	0	28.83	25.60	28.83
2243	0.49	117.2	3538	752	2407	2338	149.0	11.4	300	2252	0.00	2.20	0.00	0.000	1030	0.000	0.037	3538	2171	2372	2407	2337	0	0	0	0	0	0	28.83	25.79	28.83
2372	0.49	117.2	3538	2172	2407	2336	132.6	12.7	313	2376	0.00	2.17	0.00	0.000	260	0.000	0.051	3539	3565	2371	2407	2336	0	0	0	0	0	0	28.83	25.92	28.83
2410	0.49	117.2	2866	3564	2374	2331	127.9	12.7	316	2418	0.00	2.22	0.00	0.000	1030	0.000	0.040	3547	2168	2369	2403	2336	0	0	0	0	0	0	28.83	25.99	28.83
2538	0.49	117.2	3547	2167	2404	2336	111.5	13.0	329	2542	0.00	2.17	0.00	0.000	516	0.000	0.048	3558	750	2370	2404	2336	0	0	0	0	0	0	28.83	26.08	28.83
2593	0.49	117.2	3557	749	2405	2336	104.2	13.0	334	2597	0.00	2.17	0.00	0.000	1030	0.000	0.038	3557	2170	2370	2405	2336	0	0	0	0	0	0	28.83	26.13	28.83
2718	0.49	117.2	3557	2171	2405	2335	87.5	13.4	355	2725	0.00	2.17	0.00	0.000	260	0.000	0.052	3557	3567	2369	2404	2335	0	0	0	0	0	0	28.83	26.16	28.83
2781	0.49	117.2	2768	3566	2367	2330	78.3	14.4	367	2789	0.00	2.17	0.00	0.000	1030	0.000	0.041	3567	2156	2369	2403	2335	0	0	0	0	0	0	28.83	26.22	28.83
2851	0.49	117.2	3567	2155	2403	2335	68.7	13.2	380	2857	0.00	2.12	0.00	0.000	516	0.000	0.047	3577	752	2369	2403	2335	0	0	0	0	0	0	28.83	26.24	28.83
2903	0.49	117.2	3576	752	2404	2335	61.5	13.5	390	2911	0.10	2.15	0.00	0.000	5126	0.174	0.036	3552	2172	2369	2404	2335	0	0	0	0	0	0	26.17	26.27	28.83
2972	0.49	117.2	3552	2172	2404	2335	52.1	13.6	403	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2172	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3041	0.49	117.2	3552	2172	2404	2335	43.7	13.2	416	3047	0.00	2.20	0.00	0.000	516	0.000	0.050	3561	753	2369	2404	2335	0	0	0	0	0	0	28.83	26.29	28.83
3068	0.49	117.2	2768	752	2370	2330	40.1	13.3	421	3075	0.00	2.15	0.00	0.000	1030	0.000	0.036	3561	2172	2369	2404	2335	0	0	0	0	0	0	28.83	26.32	28.83
3107	0.49	117.2	3561	2173	2404	2335	35.1	13.5	428	3112	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2173	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3144	0.49	117.2	3561	2173	2404	2335	30.1	13.5	435	3150	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2173	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3182	0.49	117.2	3561	2173	2404	2334	25.2	13.1	442	3187	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2173	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3218	0.49	117.2	2784	2171	2371	2330	20.3	13.6	449	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2173	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3256	0.49	117.2	3561	2173	2404	2335	15.4	13.0	456	3262	0.00	2.15	0.00	0.000	260	0.000	0.051	3561	3566	2369	2404	2335	0	0	0	0	0	0	28.83	26.34	28.83
3283	0.49	117.2	2784	3565	2368	2330	11.7	13.7	461	3290	0.08	2.15	0.00	0.000	5126	0.200	0.039	3556	2161	2368	2402	2335	0	0	0	0	0	0	26.27	26.38	28.83
3322	0.49	117.2	3556	2161	2403	2335	6.2	13.7	468	3329	0.00	2.12	0.00	0.000	516	0.000	0.047	3566	754	2369	2403	2335	0	0	0	0	0	0	28.83	26.37	28.83
3349	end climb: SURFACE_DEPTH_REACHED
state	3349	begin surface coast
3369	end surface coast: CONTROL_FINISHED_OK
state	3370	begin surface