Glider dive log

LakeWA 31Oct16 * SG401 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0125 ROLL_MAX 3930 COMPASS_USE 4

MISSION 6 HD_C 1e-06 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

DIVE 2 HEADING 215 C_ROLL_DIVE 2220 ALTIM_TOP_PING_RANGE 0

N_DIVES 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 2310 ALTIM_BOTTOM_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 30

D_TGT 40 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 66 ALTIM_PING_DELTA 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 ALTIM_FREQUENCY 13

D_NO_BLEED 500 SM_CC 200 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 53 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 1 VBD_MAX 4044 INT_PRESSURE_YINT -1.1

D_CALL 0 N_NOCOMM 1 C_VBD 1970 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE2 -1

T_DIVE 14 CALL_TRIES 5 VBD_TIMEOUT 180 DEVICE3 -1

T_MISSION 25 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT 3 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 30945 VBD_MAXERRORS 0 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_BATHY 0 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3775 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2320 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 100 PITCH_DBAND 0.1 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 20 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0044078007

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_10V 0 SEABIRD_T_H 0.00063626393

RHO 0.99800003 PITCH_GAIN 16.700001 FG_AHR_24V 0 SEABIRD_T_I 2.4955199e-05

MASS 71182 PITCH_TIMEOUT 50 PHONE_SUPPLY 2 SEABIRD_T_J 2.9785231e-06

MASS_COMP 0 PITCH_AD_RATE 20 PRESSURE_YINT -50.558777 SEABIRD_C_G -9.7071199

NAV_MODE 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_H 1.1284475

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 32 SEABIRD_C_I -0.0014307383

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00018278907

HD_A 0.0060000001 ROLL_MIN 200 TCM_ROLL_OFFSET 0

AD7714Ch0Gain 32 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 100 D_SAFE 0 PHONE_SUPPLY 2 SIM_W 0

AH0_24V 150 D_SURF 2 PITCH_ADJ_DBAND 0 SM_CC 200

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 40 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 20 STOP_T 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.00312576 STROBE 0

ALTIM_PING_DELTA 3 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 30 FG_AHR_10V 0 PITCH_GAIN 16.700001 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3775 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 20 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0060000001 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0125 PITCH_W_GAIN 0 T_ABORT 1440

CALL_TRIES 5 HD_C 1e-06 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_WAIT 60 HEADING 215 PRESSURE_YINT -50.558777 T_DIVE 14

CAPMAXSIZE 200000 HEAD_ERRBAND 180 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS 5

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMM_SEQ 0 ID 401 RAFOS_CORR_THRESH 60 T_MISSION 25

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_NO_W 60

COMPASS_DEVICE 33 INT_PRESSURE_YINT -1.1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS_USE 4 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN_SAMPINT 3

C_PITCH 2320 LOGGERDEVICE2 -1 RHO 0.99800003 T_WATCHDOG 10

C_ROLL_CLIMB 2310 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 60

C_ROLL_DIVE 2220 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

C_VBD 1970 LOGGERS 0 ROLL_AD_RATE 350 USE_BATHY 0

DBDW 0 MASS 71182 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3930 VBD_CNV -0.85860002

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE3 -1 MAX_BUOY 100 ROLL_MIN 200 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MAX 4044

DEVICE5 -1 MINV_24V 19 R_PORT_OVSHOOT 66 VBD_MAXERRORS 0

DEVICE6 -1 MISSION 6 R_STBD_OVSHOOT 27 VBD_MIN 53

DIVE 2 MOTHERBOARD 4 SEABIRD_C_G -9.7071199 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NAV_MODE 1 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.0014307383 VBD_TIMEOUT 180

D_CALL 0 N_DIVES 2 SEABIRD_C_J 0.00018278907 W_ADJ_DBAND 0

D_FINISH 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FLARE 2 N_GPS 30945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 3

D_OFFGRID 100 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

Pre-dive calculations and measurements:

GPS1 311016,185144,4741.5063,-12214.5781,14,0.8,27,16.2,0.3,32.7,11,3.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4732.669,-12223.747

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.125769,-0.240798

_SM_DEPTHo 0.68 KALMAN_X 36.649887,36.649887,36.649887,-93.641159,52.912994

_SM_ANGLEo -31.1 KALMAN_Y 87.801353,87.801353,87.801353,-98.813515,126.762535

GPS2 311016,185534,4741.5151,-12214.5713,8,0.8,32,16.2,0.0,327.4,11,3.0 MHEAD_RNG_PITCHd_Wd 191.4,20000,-17.0,-9.524,-19.32,3205

SPEED_LIMITS 0.262,0.272 D_GRID 40

Post-dive calculations and measurements:

FINISH 0.1,0.999282 _24V_AH 24.97,0.793

SM_CCo 1059,0.00,0.000,0,0,926,896.38 _10V_AH 10.26,1.059

SM_GC 0.83,25.35,0.15,0.00,0.041,0.074,0.000,210,2195,926,-6.59,1.67,896.38,0,0,0,0,0,0,26.16,26.44,26.34 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12056.72,311016,185209 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.162533 MEM 336440

HUMID 50.07 DATA_FILE_SIZE 6840,194

INTERNAL_PRESSURE 9.44728 CAP_FILE_SIZE 83960,0

TCM_TEMP 21.30 CFSIZE 1024409600,1021165568

XPDR_PINGS 17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 30.1,6.1 GPS 311016,191519,4741.445,-12214.565,14,0.9,25,16.2,0.0,341.8,9,3.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 53 123 166.02 SBE_CT 131 24 78.61

Roll_motor 0 77 0.63 nil 0 0 0.00

VBD_pump_during_apogee 62 795 1250.08 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

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 4 420 49.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 17.35

TT8 513 19 104.30

LPSleep 60 2 1.36

TT8_Active 246 19 50.15

TT8_Sampling 322 39 131.65

TT8_CF8 18 45 8.89

TT8_Kalman 30 81 25.42

Analog_circuits 497 12 61.22

GPS_charging 0 0 0.00

Compass 289 15 44.48

RAFOS 0 0 0.00

Transponder 5 30 1.68

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.02 -100.2 211 2199 947 147 0.0 0.0 0 27 0.00 0.00 -7.60 0.000 16390 0.000 0.000 211 2199 2092 2092 292 0 0 0 0 0 0 26.87 25.07 26.89

29 -1.02 -100.2 211 2199 2093 292 1.0 -3.8 2 54 21.48 0.00 0.00 0.000 2054 0.124 0.000 1985 2200 2093 2093 465 0 0 0 0 0 0 26.30 26.48 26.45

66 -1.02 -100.2 1986 2200 2093 462 6.7 -12.0 9 72 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2094 2094 481 0 0 0 0 0 0 26.75 26.77 26.77

85 -1.02 -100.2 1985 2200 2095 478 8.2 -8.1 13 91 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2095 2095 495 0 0 0 0 0 0 26.77 26.79 26.79

105 -1.02 -100.2 1985 2200 2095 492 9.9 -8.8 17 110 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2200 2095 2095 507 0 0 0 0 0 0 26.79 26.81 26.81

123 -1.02 -100.2 1985 2200 2096 505 11.7 -9.6 21 129 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2096 2096 518 0 0 0 0 0 0 26.78 26.80 26.79

142 -1.02 -100.2 1985 2200 2096 516 13.1 -7.2 25 148 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2096 2096 528 0 0 0 0 0 0 26.82 26.83 26.83

161 -1.02 -100.2 1985 2200 2097 526 14.8 -8.8 29 167 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2200 2097 2097 537 0 0 0 0 0 0 26.82 26.84 26.84

180 -1.02 -100.2 1985 2200 2097 535 16.5 -8.6 33 186 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2097 2097 545 0 0 0 0 0 0 26.84 26.85 26.85

200 -1.02 -100.2 1985 2200 2097 542 17.9 -7.2 37 205 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2097 2097 551 0 0 0 0 0 0 26.84 26.86 26.86

219 -1.02 -100.2 1985 2200 2098 549 19.3 -7.5 41 224 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2098 2098 557 0 0 0 0 0 0 26.85 26.87 26.86

238 -1.02 -100.2 1985 2200 2098 556 20.8 -7.3 45 244 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2200 2098 2098 563 0 0 0 0 0 0 26.86 26.88 26.87

257 -1.02 -100.2 1985 2200 2099 560 22.2 -7.4 49 263 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2098 2098 567 0 0 0 0 0 0 26.86 26.89 26.89

276 -1.02 -100.2 1985 2200 2099 565 23.7 -7.6 53 282 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2099 2099 571 0 0 0 0 0 0 26.87 26.89 26.89

295 -1.02 -100.2 1985 2200 2099 569 25.3 -7.9 57 301 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2099 2099 575 0 0 0 0 0 0 26.88 26.90 26.89

314 -1.02 -100.2 1985 2200 2099 573 26.7 -7.0 61 320 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2100 2100 578 0 0 0 0 0 0 26.89 26.91 26.90

333 -1.02 -100.2 1985 2200 2100 576 27.9 -6.7 65 339 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2100 2100 581 0 0 0 0 0 0 26.89 26.91 26.91

352 -1.02 -100.2 1985 2200 2100 579 29.2 -6.8 69 358 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2100 2100 583 0 0 0 0 0 0 26.90 26.91 26.91

375 -1.02 -100.2 1985 2200 2101 581 31.0 -7.4 73 381 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2101 2101 585 0 0 0 0 0 0 26.91 26.92 26.91

396 -1.02 -100.2 1985 2200 2101 582 32.5 -7.8 77 401 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2101 2101 587 0 0 0 0 0 0 26.90 26.92 26.92

415 -1.02 -100.2 1985 2200 2101 584 34.0 -7.6 81 421 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2101 2101 588 0 0 0 0 0 0 26.91 26.94 26.93

434 -1.02 -100.2 1985 2200 2102 586 35.4 -7.2 85 440 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2102 2102 589 0 0 0 0 0 0 26.92 26.94 26.94

453 -1.02 -100.2 1985 2200 2102 587 36.9 -7.3 89 459 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2102 2102 591 0 0 0 0 0 0 26.93 26.94 26.94

472 -1.02 -100.2 1985 2200 2102 589 38.3 -7.1 93 478 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2200 2103 2103 592 0 0 0 0 0 0 26.93 26.95 26.94

491 -1.02 -100.2 1985 2200 2103 589 39.7 -7.5 97 497 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2200 2103 2103 593 0 0 0 0 0 0 26.94 26.96 26.95

502 end dive: TARGET_DEPTH_EXCEEDED

state 502 begin apogee

505 -0.30 0.0 1985 2341 2103 592 40.6 -7.7 99 519 2.50 0.00 7.55 0.756 10246 0.085 0.000 2217 2341 1968 1968 4095 0 0 0 0 0 0 26.51 26.29 25.47

520 end apogee: CONTROL_FINISHED_OK

state 520 begin climb

521 1.02 100.2 2217 2341 1967 866 41.5 0.0 101 539 4.32 0.00 6.78 0.728 10246 0.066 0.000 2624 2341 1852 1852 4095 0 0 0 0 0 0 26.44 26.17 25.38

553 1.02 253.4 2623 2341 1851 824 40.8 4.8 107 565 0.00 0.00 9.50 0.796 8198 0.000 0.000 2624 2341 1672 1672 4095 0 0 0 0 0 0 26.70 26.03 25.29

579 1.02 415.4 2623 2341 1672 826 39.7 4.5 112 591 0.00 0.00 9.98 0.787 8198 0.000 0.000 2624 2341 1483 1483 4095 0 0 0 0 0 0 26.56 25.91 25.19

605 1.02 580.8 2623 2341 1483 825 38.6 4.4 117 617 0.00 0.00 10.05 0.783 8198 0.000 0.000 2624 2341 1291 1291 4095 0 0 0 0 0 0 26.44 25.80 25.07

631 1.02 756.0 2623 2341 1291 827 37.6 4.1 122 644 0.00 0.00 10.77 0.786 8198 0.000 0.000 2624 2341 1087 1087 4095 0 0 0 0 0 0 26.34 25.70 25.00

657 1.02 884.5 2623 2341 1086 826 36.3 5.5 127 669 0.00 0.00 8.30 0.721 8198 0.000 0.000 2624 2341 937 937 4095 0 0 0 0 0 0 26.25 25.67 24.97

682 1.02 884.5 2623 2341 936 828 33.1 13.5 132 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 936 936 771 0 0 0 0 0 0 26.22 26.24 26.23

701 1.02 884.5 2623 2341 935 773 30.8 12.9 136 707 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 936 936 720 0 0 0 0 0 0 26.29 26.31 26.31

720 1.02 884.5 2623 2341 935 723 28.5 12.6 140 726 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 935 935 676 0 0 0 0 0 0 26.35 26.37 26.36

739 1.02 884.5 2623 2340 935 678 26.4 11.9 144 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 934 934 636 0 0 0 0 0 0 26.39 26.42 26.41

757 1.02 884.5 2623 2341 934 638 24.1 12.1 148 763 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 934 934 600 0 0 0 0 0 0 26.44 26.46 26.46

776 1.02 884.5 2623 2341 934 602 21.8 12.1 152 782 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 933 933 569 0 0 0 0 0 0 26.47 26.49 26.49

795 1.02 884.5 2624 2341 933 569 19.6 11.9 156 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 932 932 540 0 0 0 0 0 0 26.51 26.52 26.52

813 1.02 884.5 2624 2341 932 542 17.2 13.2 160 819 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 932 932 516 0 0 0 0 0 0 26.53 26.55 26.55

832 1.02 884.5 2623 2341 931 517 14.8 13.2 164 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 931 931 494 0 0 0 0 0 0 26.55 26.58 26.57

851 1.02 884.5 2623 2341 931 495 12.2 14.2 168 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 930 930 474 0 0 0 0 0 0 26.58 26.60 26.59

870 1.02 884.5 2623 2341 930 475 10.0 12.4 172 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 930 930 457 0 0 0 0 0 0 26.60 26.62 26.62

888 1.02 884.5 2624 2341 929 458 7.9 11.1 176 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 929 929 442 0 0 0 0 0 0 26.58 26.60 26.59

907 1.02 884.5 2623 2341 928 442 5.4 13.0 180 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 928 928 429 0 0 0 0 0 0 26.64 26.65 26.65

926 1.02 884.5 2623 2341 928 428 3.1 12.5 184 931 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2341 928 928 417 0 0 0 0 0 0 26.65 26.67 26.67

936 end climb: SURFACE_DEPTH_REACHED

state 936 begin surface coast

967 end surface coast: CONTROL_FINISHED_OK

state 967 begin surface

ID	401	HD_B	0.0125	ROLL_MAX	3930	COMPASS_USE	4
MISSION	6	HD_C	1e-06	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
DIVE	2	HEADING	215	C_ROLL_DIVE	2220	ALTIM_TOP_PING_RANGE	0
N_DIVES	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	2310	ALTIM_BOTTOM_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	30
D_TGT	40	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	66	ALTIM_PING_DELTA	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	ALTIM_FREQUENCY	13
D_NO_BLEED	500	SM_CC	200	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	53	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	1	VBD_MAX	4044	INT_PRESSURE_YINT	-1.1
D_CALL	0	N_NOCOMM	1	C_VBD	1970	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE2	-1
T_DIVE	14	CALL_TRIES	5	VBD_TIMEOUT	180	DEVICE3	-1
T_MISSION	25	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	3	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	30945	VBD_MAXERRORS	0	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_BATHY	0	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3775	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2320	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	100	PITCH_DBAND	0.1	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	20	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0044078007
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_10V	0	SEABIRD_T_H	0.00063626393
RHO	0.99800003	PITCH_GAIN	16.700001	FG_AHR_24V	0	SEABIRD_T_I	2.4955199e-05
MASS	71182	PITCH_TIMEOUT	50	PHONE_SUPPLY	2	SEABIRD_T_J	2.9785231e-06
MASS_COMP	0	PITCH_AD_RATE	20	PRESSURE_YINT	-50.558777	SEABIRD_C_G	-9.7071199
NAV_MODE	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_H	1.1284475
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	32	SEABIRD_C_I	-0.0014307383
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00018278907
HD_A	0.0060000001	ROLL_MIN	200	TCM_ROLL_OFFSET	0

GPS1	311016,185144,4741.5063,-12214.5781,14,0.8,27,16.2,0.3,32.7,11,3.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4732.669,-12223.747
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.125769,-0.240798
_SM_DEPTHo	0.68	KALMAN_X	36.649887,36.649887,36.649887,-93.641159,52.912994
_SM_ANGLEo	-31.1	KALMAN_Y	87.801353,87.801353,87.801353,-98.813515,126.762535
GPS2	311016,185534,4741.5151,-12214.5713,8,0.8,32,16.2,0.0,327.4,11,3.0	MHEAD_RNG_PITCHd_Wd	191.4,20000,-17.0,-9.524,-19.32,3205
SPEED_LIMITS	0.262,0.272	D_GRID	40

FINISH	0.1,0.999282	_24V_AH	24.97,0.793
SM_CCo	1059,0.00,0.000,0,0,926,896.38	_10V_AH	10.26,1.059
SM_GC	0.83,25.35,0.15,0.00,0.041,0.074,0.000,210,2195,926,-6.59,1.67,896.38,0,0,0,0,0,0,26.16,26.44,26.34	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12056.72,311016,185209	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.162533	MEM	336440
HUMID	50.07	DATA_FILE_SIZE	6840,194
INTERNAL_PRESSURE	9.44728	CAP_FILE_SIZE	83960,0
TCM_TEMP	21.30	CFSIZE	1024409600,1021165568
XPDR_PINGS	17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	30.1,6.1	GPS	311016,191519,4741.445,-12214.565,14,0.9,25,16.2,0.0,341.8,9,3.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	53	123	166.02	SBE_CT	131	24	78.61
Roll_motor	0	77	0.63	nil	0	0	0.00
VBD_pump_during_apogee	62	795	1250.08	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
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	4	420	49.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	17.35
TT8	513	19	104.30
LPSleep	60	2	1.36
TT8_Active	246	19	50.15
TT8_Sampling	322	39	131.65
TT8_CF8	18	45	8.89
TT8_Kalman	30	81	25.42
Analog_circuits	497	12	61.22
GPS_charging	0	0	0.00
Compass	289	15	44.48
RAFOS	0	0	0.00
Transponder	5	30	1.68

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.02	-100.2	211	2199	947	147	0.0	0.0	0	27	0.00	0.00	-7.60	0.000	16390	0.000	0.000	211	2199	2092	2092	292	0	0	0	0	0	0	26.87	25.07	26.89
29	-1.02	-100.2	211	2199	2093	292	1.0	-3.8	2	54	21.48	0.00	0.00	0.000	2054	0.124	0.000	1985	2200	2093	2093	465	0	0	0	0	0	0	26.30	26.48	26.45
66	-1.02	-100.2	1986	2200	2093	462	6.7	-12.0	9	72	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2094	2094	481	0	0	0	0	0	0	26.75	26.77	26.77
85	-1.02	-100.2	1985	2200	2095	478	8.2	-8.1	13	91	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2095	2095	495	0	0	0	0	0	0	26.77	26.79	26.79
105	-1.02	-100.2	1985	2200	2095	492	9.9	-8.8	17	110	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2200	2095	2095	507	0	0	0	0	0	0	26.79	26.81	26.81
123	-1.02	-100.2	1985	2200	2096	505	11.7	-9.6	21	129	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2096	2096	518	0	0	0	0	0	0	26.78	26.80	26.79
142	-1.02	-100.2	1985	2200	2096	516	13.1	-7.2	25	148	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2096	2096	528	0	0	0	0	0	0	26.82	26.83	26.83
161	-1.02	-100.2	1985	2200	2097	526	14.8	-8.8	29	167	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2200	2097	2097	537	0	0	0	0	0	0	26.82	26.84	26.84
180	-1.02	-100.2	1985	2200	2097	535	16.5	-8.6	33	186	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2097	2097	545	0	0	0	0	0	0	26.84	26.85	26.85
200	-1.02	-100.2	1985	2200	2097	542	17.9	-7.2	37	205	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2097	2097	551	0	0	0	0	0	0	26.84	26.86	26.86
219	-1.02	-100.2	1985	2200	2098	549	19.3	-7.5	41	224	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2098	2098	557	0	0	0	0	0	0	26.85	26.87	26.86
238	-1.02	-100.2	1985	2200	2098	556	20.8	-7.3	45	244	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2200	2098	2098	563	0	0	0	0	0	0	26.86	26.88	26.87
257	-1.02	-100.2	1985	2200	2099	560	22.2	-7.4	49	263	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2098	2098	567	0	0	0	0	0	0	26.86	26.89	26.89
276	-1.02	-100.2	1985	2200	2099	565	23.7	-7.6	53	282	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2099	2099	571	0	0	0	0	0	0	26.87	26.89	26.89
295	-1.02	-100.2	1985	2200	2099	569	25.3	-7.9	57	301	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2099	2099	575	0	0	0	0	0	0	26.88	26.90	26.89
314	-1.02	-100.2	1985	2200	2099	573	26.7	-7.0	61	320	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2100	2100	578	0	0	0	0	0	0	26.89	26.91	26.90
333	-1.02	-100.2	1985	2200	2100	576	27.9	-6.7	65	339	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2100	2100	581	0	0	0	0	0	0	26.89	26.91	26.91
352	-1.02	-100.2	1985	2200	2100	579	29.2	-6.8	69	358	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2100	2100	583	0	0	0	0	0	0	26.90	26.91	26.91
375	-1.02	-100.2	1985	2200	2101	581	31.0	-7.4	73	381	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2101	2101	585	0	0	0	0	0	0	26.91	26.92	26.91
396	-1.02	-100.2	1985	2200	2101	582	32.5	-7.8	77	401	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2101	2101	587	0	0	0	0	0	0	26.90	26.92	26.92
415	-1.02	-100.2	1985	2200	2101	584	34.0	-7.6	81	421	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2101	2101	588	0	0	0	0	0	0	26.91	26.94	26.93
434	-1.02	-100.2	1985	2200	2102	586	35.4	-7.2	85	440	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2102	2102	589	0	0	0	0	0	0	26.92	26.94	26.94
453	-1.02	-100.2	1985	2200	2102	587	36.9	-7.3	89	459	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2102	2102	591	0	0	0	0	0	0	26.93	26.94	26.94
472	-1.02	-100.2	1985	2200	2102	589	38.3	-7.1	93	478	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2200	2103	2103	592	0	0	0	0	0	0	26.93	26.95	26.94
491	-1.02	-100.2	1985	2200	2103	589	39.7	-7.5	97	497	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2200	2103	2103	593	0	0	0	0	0	0	26.94	26.96	26.95
502	end dive: TARGET_DEPTH_EXCEEDED
state	502	begin apogee
505	-0.30	0.0	1985	2341	2103	592	40.6	-7.7	99	519	2.50	0.00	7.55	0.756	10246	0.085	0.000	2217	2341	1968	1968	4095	0	0	0	0	0	0	26.51	26.29	25.47
520	end apogee: CONTROL_FINISHED_OK
state	520	begin climb
521	1.02	100.2	2217	2341	1967	866	41.5	0.0	101	539	4.32	0.00	6.78	0.728	10246	0.066	0.000	2624	2341	1852	1852	4095	0	0	0	0	0	0	26.44	26.17	25.38
553	1.02	253.4	2623	2341	1851	824	40.8	4.8	107	565	0.00	0.00	9.50	0.796	8198	0.000	0.000	2624	2341	1672	1672	4095	0	0	0	0	0	0	26.70	26.03	25.29
579	1.02	415.4	2623	2341	1672	826	39.7	4.5	112	591	0.00	0.00	9.98	0.787	8198	0.000	0.000	2624	2341	1483	1483	4095	0	0	0	0	0	0	26.56	25.91	25.19
605	1.02	580.8	2623	2341	1483	825	38.6	4.4	117	617	0.00	0.00	10.05	0.783	8198	0.000	0.000	2624	2341	1291	1291	4095	0	0	0	0	0	0	26.44	25.80	25.07
631	1.02	756.0	2623	2341	1291	827	37.6	4.1	122	644	0.00	0.00	10.77	0.786	8198	0.000	0.000	2624	2341	1087	1087	4095	0	0	0	0	0	0	26.34	25.70	25.00
657	1.02	884.5	2623	2341	1086	826	36.3	5.5	127	669	0.00	0.00	8.30	0.721	8198	0.000	0.000	2624	2341	937	937	4095	0	0	0	0	0	0	26.25	25.67	24.97
682	1.02	884.5	2623	2341	936	828	33.1	13.5	132	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	936	936	771	0	0	0	0	0	0	26.22	26.24	26.23
701	1.02	884.5	2623	2341	935	773	30.8	12.9	136	707	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	936	936	720	0	0	0	0	0	0	26.29	26.31	26.31
720	1.02	884.5	2623	2341	935	723	28.5	12.6	140	726	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	935	935	676	0	0	0	0	0	0	26.35	26.37	26.36
739	1.02	884.5	2623	2340	935	678	26.4	11.9	144	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	934	934	636	0	0	0	0	0	0	26.39	26.42	26.41
757	1.02	884.5	2623	2341	934	638	24.1	12.1	148	763	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	934	934	600	0	0	0	0	0	0	26.44	26.46	26.46
776	1.02	884.5	2623	2341	934	602	21.8	12.1	152	782	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	933	933	569	0	0	0	0	0	0	26.47	26.49	26.49
795	1.02	884.5	2624	2341	933	569	19.6	11.9	156	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	932	932	540	0	0	0	0	0	0	26.51	26.52	26.52
813	1.02	884.5	2624	2341	932	542	17.2	13.2	160	819	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	932	932	516	0	0	0	0	0	0	26.53	26.55	26.55
832	1.02	884.5	2623	2341	931	517	14.8	13.2	164	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	931	931	494	0	0	0	0	0	0	26.55	26.58	26.57
851	1.02	884.5	2623	2341	931	495	12.2	14.2	168	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	930	930	474	0	0	0	0	0	0	26.58	26.60	26.59
870	1.02	884.5	2623	2341	930	475	10.0	12.4	172	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	930	930	457	0	0	0	0	0	0	26.60	26.62	26.62
888	1.02	884.5	2624	2341	929	458	7.9	11.1	176	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	929	929	442	0	0	0	0	0	0	26.58	26.60	26.59
907	1.02	884.5	2623	2341	928	442	5.4	13.0	180	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	928	928	429	0	0	0	0	0	0	26.64	26.65	26.65
926	1.02	884.5	2623	2341	928	428	3.1	12.5	184	931	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2341	928	928	417	0	0	0	0	0	0	26.65	26.67	26.67
936	end climb: SURFACE_DEPTH_REACHED
state	936	begin surface coast
967	end surface coast: CONTROL_FINISHED_OK
state	967	begin surface