Glider dive log

Shilshole 28Mar16 * SG601 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 601 HD_C 9.9999997e-06 C_ROLL_DIVE 2190 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 2110 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 20 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743 R_PORT_OVSHOOT 53 ALTIM_FREQUENCY 13

D_FLARE 2 TGT_DEFAULT_LON -12223.5 R_STBD_OVSHOOT 47 ALTIM_PULSE 4

D_TGT 190 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_ABORT 1050 SM_CC 280 ROLL_MAXERRORS 2 XPDR_VALID 2

D_NO_BLEED 45 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 60 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 1

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 1640 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.00039999999 DEVICE5 -1

T_DIVE 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_MISSION 75 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 540 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 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 350 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 205 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3900 MINV_24V 10 SIM_W 0

RELAUNCH 1 C_PITCH 3033 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043827128

MAX_BUOY 300 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_T_H 0.00062866701

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.5612169e-05

GLIDE_SLOPE 15 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.209283e-06

SPEED_FACTOR 1 PITCH_GAIN 17 PHONE_SUPPLY 2 SEABIRD_C_G -9.733285

RHO 1.023 PITCH_TIMEOUT 17 PRESSURE_YINT -167.63049 SEABIRD_C_H 1.1253656

MASS 58866 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001070285 SEABIRD_C_I -0.0011628612

MASS_COMP 4039.5 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00016996283

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 0 ROLL_MIN 265 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3865 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 350 D_TGT 190 PITCH_AD_RATE 160 SM_CC 280

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 17 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FILEMGR 0 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 15 PITCH_VBD_SHIFT 0.00039999999 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001070285 TGT_DEFAULT_LON -12223.5

CALL_NDIVES 1 HD_C 9.9999997e-06 PRESSURE_YINT -167.63049 T_ABORT 1440

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 65

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 2 ID 601 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 75

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 KALMAN_USE 0 RELAUNCH 1 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.023 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 3033 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2110 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UNCOM_BLEED 60

C_ROLL_DIVE 2190 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 1640 MASS 58866 ROLL_DEG 40 USE_BATHY -6

DBDW 0 MASS_COMP 4039.5 ROLL_MAX 3865 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_MIN 265 VBD_CNV -0.25119999

DEVICE2 -1 MAX_BUOY 300 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 53 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 47 VBD_MAX 3960

DEVICE5 -1 MISSION 5 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 5 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 0 SEABIRD_C_G -9.733285 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 60 N_DIVES 20 SEABIRD_C_H 1.1253656 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0011628612 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00016996283 XPDR_DEVICE 24

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_G 0.0043827128 XPDR_INHIBIT 90

D_NO_BLEED 45 N_NOSURFACE 0 SEABIRD_T_H 0.00062866701 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.5612169e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 3.209283e-06

Pre-dive calculations and measurements:

GPS1 280316,221645,4744.5981,-12224.3711,5,0.8,8,16.6,0.0,0.0,11,9.5 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.014074,-0.373370

_SM_DEPTHo 1.06 KALMAN_X 405.335846,351.859711,159.246063,-951.753601,-20.354210

_SM_ANGLEo -64.7 KALMAN_Y -302.309265,-3.409737,67.619316,3345.214844,-200.776413

GPS2 280316,222756,4744.5420,-12224.3926,7,0.9,11,16.6,0.0,0.0,9,9.0 MHEAD_RNG_PITCHd_Wd 159.1,2859,-10.0,-9.744,-14.62,5396

SPEED_LIMITS 0.364,0.374 D_GRID 177

Post-dive calculations and measurements:

FINISH 1.7,1.021061 _24V_AH 13.75,1.488

SM_CCo 3865,0.00,0.000,0,0,487,289.88 _10V_AH 13.77,0.000

SM_GC 1.04,9.23,2.60,0.00,0.090,0.075,0.000,214,2196,487,-8.75,-0.57,289.88,0,0,0,0,0,0,14.85,14.83,14.92 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12337.82,280316,211533 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.323568 MEM 312956

HUMID 40.54 DATA_FILE_SIZE 16797,445

INTERNAL_PRESSURE 8.8421 CAP_FILE_SIZE 101577,0

TCM_TEMP 17.40 CFSIZE 2097086464,2092531712

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 125.6,62.1 CURRENT 0.138,194.71,1

SC_FREEKB 3908960 GPS 280316,233456,4743.841,-12224.665,5,1.2,30,16.6,0.2,158.3,9,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 377 117.05 nil 0 0 0.00

Roll_motor 88 2229 2700.41 nil 0 0 0.00

VBD_pump_during_apogee 469 1084 6993.83 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 30 90 37.26 nil 0 0 0.00

Iridium_during_connect 43 160 95.46 SciCon 3809 10 552.75

Iridium_during_xfer 394 223 1211.06 nil 0 0 0.00

Transponder_ping 2 420 15.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 21 3.58

TT8 1151 11 177.86

LPSleep 1287 2 38.84

TT8_Active 555 10 80.13

TT8_Sampling 1354 29 558.60

TT8_CF8 214 39 117.42

TT8_Kalman 33 47 21.71

Analog_circuits 1075 12 177.73

GPS_charging 0 0 0.00

Compass 804 20 232.31

RAFOS 0 0 0.00

Transponder 18 30 7.46

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

19 -0.71 -293.3 183 2221 562 413 0.0 0.0 0 51 0.00 0.00 -29.45 0.000 16386 0.000 0.000 185 2221 1284 1380 1189 0 0 0 0 0 0 14.92 28.83 14.91

54 -0.71 -293.3 186 2221 1382 1191 2.0 -3.5 5 116 11.68 2.67 -41.10 0.000 19204 0.378 2.229 2800 805 2809 2814 2804 0 0 0 0 0 0 14.52 13.77 14.75

276 -0.71 -293.3 2800 805 2820 2812 25.5 -11.5 46 282 0.00 2.33 0.00 0.000 1030 0.000 0.073 2795 2166 2816 2820 2812 0 0 0 0 0 0 14.79 14.69 14.81

346 -0.71 -293.3 2795 2165 2820 2812 33.8 -11.9 59 353 0.00 2.53 0.00 0.000 260 0.000 0.103 2784 3597 2816 2820 2812 0 0 0 0 0 0 14.93 14.69 14.94

396 -0.71 -293.3 2783 3597 2821 2812 39.9 -11.4 68 403 0.00 2.35 0.00 0.000 1030 0.000 0.064 2784 2213 2816 2820 2812 0 0 0 0 0 0 14.83 14.74 14.85

467 -0.71 -293.3 2783 2210 2821 2812 48.0 -11.9 81 474 0.00 2.47 0.00 0.000 516 0.000 0.090 2784 781 2816 2820 2812 0 0 0 0 0 0 14.95 14.72 15.00

516 -0.71 -293.3 2783 781 2821 2812 53.7 -12.3 86 523 0.00 2.42 0.00 0.000 1030 0.000 0.073 2773 2201 2816 2820 2813 0 0 0 0 0 0 14.85 14.75 14.86

642 -0.71 -293.3 2774 2201 2820 2813 68.7 -11.2 99 647 0.00 2.47 0.00 0.000 260 0.000 0.103 2765 3604 2816 2820 2812 0 0 0 0 0 0 15.00 14.75 15.01

695 -0.71 -293.3 2764 3604 2821 2812 75.2 -12.3 104 702 0.12 2.40 0.00 0.000 3078 0.201 0.066 2804 2192 2816 2820 2812 0 0 0 0 0 0 14.72 14.77 14.84

832 -0.71 -293.3 2803 2186 2821 2812 90.4 -11.4 117 837 0.00 2.42 0.00 0.000 516 0.000 0.090 2804 783 2816 2820 2812 0 0 0 0 0 0 15.03 14.78 15.04

879 -0.71 -293.3 2803 783 2821 2812 95.6 -11.6 121 885 0.00 2.40 0.00 0.000 1030 0.000 0.075 2797 2191 2816 2821 2812 0 0 0 0 0 0 14.90 14.79 14.92

1005 -0.71 -293.3 2797 2191 2821 2812 111.4 -11.6 134 1011 0.00 2.47 0.00 0.000 260 0.000 0.105 2787 3595 2815 2820 2811 0 0 0 0 0 0 15.04 14.78 15.05

1062 -0.71 -293.3 2786 3596 2821 2812 117.4 -11.0 139 1069 0.00 2.38 0.00 0.000 1030 0.000 0.065 2787 2188 2816 2821 2812 0 0 0 0 0 0 14.92 14.83 14.93

1189 -0.71 -293.3 2786 2186 2820 2812 133.2 -12.6 152 1195 0.00 2.40 0.00 0.000 516 0.000 0.086 2787 783 2816 2821 2812 0 0 0 0 0 0 15.06 14.83 15.07

1207 -0.71 -293.3 2786 783 2821 2812 134.9 -13.0 153 1214 0.00 2.40 0.00 0.000 1030 0.000 0.076 2781 2192 2816 2821 2812 0 0 0 0 0 0 14.92 14.82 14.94

1336 -0.71 -293.3 2780 2192 2820 2812 152.7 -12.6 166 1342 0.00 2.47 0.00 0.000 260 0.000 0.102 2770 3603 2816 2820 2812 0 0 0 0 0 0 15.07 14.81 15.07

1400 -0.71 -293.3 2770 3606 2821 2812 161.0 -12.2 172 1406 0.00 2.38 0.00 0.000 1030 0.000 0.065 2770 2190 2816 2821 2812 0 0 0 0 0 0 14.92 14.83 14.93

1522 end dive: TARGET_DEPTH_EXCEEDED

state 1522 begin apogee

1530 -0.29 0.0 2770 2080 2820 2812 177.5 -13.2 184 1774 0.50 0.00 236.82 1.084 10246 0.171 0.000 2928 2080 1639 1729 1549 0 0 0 0 0 0 14.78 14.21 13.76

1775 end apogee: CONTROL_FINISHED_OK

state 1775 begin climb

1778 0.71 293.3 2929 2080 1728 1549 184.3 0.0 209 2023 1.00 2.47 232.40 1.036 10756 0.125 0.095 3249 731 500 568 432 0 0 0 0 0 0 14.18 14.14 13.75

2051 0.74 374.4 3249 731 567 429 172.9 8.2 236 2057 0.00 2.45 0.00 0.000 1030 0.000 0.073 3249 2115 498 567 429 0 0 0 0 0 0 14.38 14.28 14.40

2187 0.74 374.4 3249 2114 566 424 160.2 9.9 249 2192 0.00 2.50 0.00 0.000 260 0.000 0.099 3249 3518 495 566 424 0 0 0 0 0 0 14.73 14.50 14.74

2220 0.74 375.7 3249 3519 566 423 156.7 9.7 252 2226 0.00 2.40 0.00 0.000 1030 0.000 0.071 3256 2137 494 566 423 0 0 0 0 0 0 14.64 14.55 14.67

2356 0.75 395.4 3256 2136 566 422 143.6 9.4 265 2361 0.00 2.53 0.00 0.000 516 0.000 0.101 3265 703 493 566 420 0 0 0 0 0 0 14.85 14.62 14.86

2420 0.75 395.4 3265 703 566 421 137.3 9.8 271 2425 0.00 2.42 0.00 0.000 1030 0.000 0.074 3265 2114 493 565 421 0 0 0 0 0 0 14.76 14.66 14.78

2555 0.75 395.4 3265 2113 565 419 123.7 10.4 284 2561 0.00 0.00 0.00 0.000 6 0.000 0.000 3265 2113 492 566 418 0 0 0 0 0 0 14.93 14.95 14.95

2683 0.76 422.1 3265 2113 566 416 111.3 9.2 297 2690 0.00 2.47 0.00 0.000 516 0.000 0.098 3274 704 491 566 416 0 0 0 0 0 0 14.97 14.73 14.98

2758 0.76 426.7 3274 704 566 416 104.3 9.7 304 2763 0.00 2.40 0.00 0.000 1030 0.000 0.073 3274 2115 490 565 416 0 0 0 0 0 0 14.86 14.76 14.88

2893 0.76 426.7 3273 2115 566 414 91.3 10.1 317 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 3274 2115 489 565 414 0 0 0 0 0 0 15.01 15.02 15.02

3021 0.76 426.7 3273 2114 566 413 78.4 10.1 330 3027 0.00 2.47 0.00 0.000 516 0.000 0.098 3280 704 489 566 413 0 0 0 0 0 0 15.03 14.78 15.04

3095 0.76 426.7 3280 704 566 413 70.5 10.9 337 3100 0.00 2.40 0.00 0.000 1030 0.000 0.073 3281 2122 489 566 413 0 0 0 0 0 0 14.91 14.81 14.93

3230 0.76 426.7 3280 2121 566 411 56.4 10.2 350 3235 0.00 2.42 0.00 0.000 260 0.000 0.099 3280 3517 488 566 411 0 0 0 0 0 0 15.05 14.81 15.05

3254 0.76 426.7 3279 3516 566 411 53.7 10.5 352 3259 0.00 2.40 0.00 0.000 1030 0.000 0.072 3289 2110 488 566 411 0 0 0 0 0 0 14.92 14.83 14.94

3383 0.76 426.7 3288 2108 566 411 39.5 10.9 373 3390 0.00 2.45 0.00 0.000 516 0.000 0.101 3298 697 488 566 410 0 0 0 0 0 0 15.04 14.81 15.06

3493 0.79 490.8 3298 697 566 410 29.1 8.5 394 3500 0.00 2.40 0.00 0.000 1030 0.000 0.073 3298 2115 488 566 410 0 0 0 0 0 0 14.93 14.83 14.95

3566 0.80 535.1 3298 2115 566 410 23.0 8.9 407 3572 0.00 2.45 0.00 0.000 260 0.000 0.101 3298 3522 487 564 410 0 0 0 0 0 0 15.04 14.81 15.06

3591 0.80 538.1 3298 3521 565 410 20.4 9.7 411 3597 0.00 2.42 0.00 0.000 1030 0.000 0.073 3306 2102 488 566 410 0 0 0 0 0 0 14.91 14.82 14.93

3661 0.81 561.5 3306 2100 566 409 13.7 9.3 424 3668 0.00 2.45 0.00 0.000 516 0.000 0.103 3314 703 487 566 409 0 0 0 0 0 0 15.04 14.81 15.05

3682 0.81 561.5 3316 703 566 409 11.6 9.8 427 3688 0.00 2.40 0.00 0.000 1030 0.000 0.078 3316 2112 487 566 409 0 0 0 0 0 0 14.93 14.83 14.94

3753 0.81 561.5 3315 2112 566 409 4.5 10.2 440 3760 0.00 2.47 0.00 0.000 516 0.000 0.101 3325 701 487 566 409 0 0 0 0 0 0 15.04 14.81 15.05

3771 end climb: SURFACE_DEPTH_REACHED

state 3771 begin surface coast

3782 end surface coast: CONTROL_FINISHED_OK

state 3782 begin surface

ID	601	HD_C	9.9999997e-06	C_ROLL_DIVE	2190	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2110	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	20	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743	R_PORT_OVSHOOT	53	ALTIM_FREQUENCY	13
D_FLARE	2	TGT_DEFAULT_LON	-12223.5	R_STBD_OVSHOOT	47	ALTIM_PULSE	4
D_TGT	190	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_ABORT	1050	SM_CC	280	ROLL_MAXERRORS	2	XPDR_VALID	2
D_NO_BLEED	45	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	60	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	1
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	1640	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.00039999999	DEVICE5	-1
T_DIVE	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_MISSION	75	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	540	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	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	350	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	205	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3900	MINV_24V	10	SIM_W	0
RELAUNCH	1	C_PITCH	3033	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043827128
MAX_BUOY	300	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_T_H	0.00062866701
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.5612169e-05
GLIDE_SLOPE	15	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.209283e-06
SPEED_FACTOR	1	PITCH_GAIN	17	PHONE_SUPPLY	2	SEABIRD_C_G	-9.733285
RHO	1.023	PITCH_TIMEOUT	17	PRESSURE_YINT	-167.63049	SEABIRD_C_H	1.1253656
MASS	58866	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001070285	SEABIRD_C_I	-0.0011628612
MASS_COMP	4039.5	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00016996283
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	0	ROLL_MIN	265	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3865	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	280316,221645,4744.5981,-12224.3711,5,0.8,8,16.6,0.0,0.0,11,9.5	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.014074,-0.373370
_SM_DEPTHo	1.06	KALMAN_X	405.335846,351.859711,159.246063,-951.753601,-20.354210
_SM_ANGLEo	-64.7	KALMAN_Y	-302.309265,-3.409737,67.619316,3345.214844,-200.776413
GPS2	280316,222756,4744.5420,-12224.3926,7,0.9,11,16.6,0.0,0.0,9,9.0	MHEAD_RNG_PITCHd_Wd	159.1,2859,-10.0,-9.744,-14.62,5396
SPEED_LIMITS	0.364,0.374	D_GRID	177

FINISH	1.7,1.021061	_24V_AH	13.75,1.488
SM_CCo	3865,0.00,0.000,0,0,487,289.88	_10V_AH	13.77,0.000
SM_GC	1.04,9.23,2.60,0.00,0.090,0.075,0.000,214,2196,487,-8.75,-0.57,289.88,0,0,0,0,0,0,14.85,14.83,14.92	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12337.82,280316,211533	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.323568	MEM	312956
HUMID	40.54	DATA_FILE_SIZE	16797,445
INTERNAL_PRESSURE	8.8421	CAP_FILE_SIZE	101577,0
TCM_TEMP	17.40	CFSIZE	2097086464,2092531712
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	125.6,62.1	CURRENT	0.138,194.71,1
SC_FREEKB	3908960	GPS	280316,233456,4743.841,-12224.665,5,1.2,30,16.6,0.2,158.3,9,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	377	117.05	nil	0	0	0.00
Roll_motor	88	2229	2700.41	nil	0	0	0.00
VBD_pump_during_apogee	469	1084	6993.83	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	30	90	37.26	nil	0	0	0.00
Iridium_during_connect	43	160	95.46	SciCon	3809	10	552.75
Iridium_during_xfer	394	223	1211.06	nil	0	0	0.00
Transponder_ping	2	420	15.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	21	3.58
TT8	1151	11	177.86
LPSleep	1287	2	38.84
TT8_Active	555	10	80.13
TT8_Sampling	1354	29	558.60
TT8_CF8	214	39	117.42
TT8_Kalman	33	47	21.71
Analog_circuits	1075	12	177.73
GPS_charging	0	0	0.00
Compass	804	20	232.31
RAFOS	0	0	0.00
Transponder	18	30	7.46

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
19	-0.71	-293.3	183	2221	562	413	0.0	0.0	0	51	0.00	0.00	-29.45	0.000	16386	0.000	0.000	185	2221	1284	1380	1189	0	0	0	0	0	0	14.92	28.83	14.91
54	-0.71	-293.3	186	2221	1382	1191	2.0	-3.5	5	116	11.68	2.67	-41.10	0.000	19204	0.378	2.229	2800	805	2809	2814	2804	0	0	0	0	0	0	14.52	13.77	14.75
276	-0.71	-293.3	2800	805	2820	2812	25.5	-11.5	46	282	0.00	2.33	0.00	0.000	1030	0.000	0.073	2795	2166	2816	2820	2812	0	0	0	0	0	0	14.79	14.69	14.81
346	-0.71	-293.3	2795	2165	2820	2812	33.8	-11.9	59	353	0.00	2.53	0.00	0.000	260	0.000	0.103	2784	3597	2816	2820	2812	0	0	0	0	0	0	14.93	14.69	14.94
396	-0.71	-293.3	2783	3597	2821	2812	39.9	-11.4	68	403	0.00	2.35	0.00	0.000	1030	0.000	0.064	2784	2213	2816	2820	2812	0	0	0	0	0	0	14.83	14.74	14.85
467	-0.71	-293.3	2783	2210	2821	2812	48.0	-11.9	81	474	0.00	2.47	0.00	0.000	516	0.000	0.090	2784	781	2816	2820	2812	0	0	0	0	0	0	14.95	14.72	15.00
516	-0.71	-293.3	2783	781	2821	2812	53.7	-12.3	86	523	0.00	2.42	0.00	0.000	1030	0.000	0.073	2773	2201	2816	2820	2813	0	0	0	0	0	0	14.85	14.75	14.86
642	-0.71	-293.3	2774	2201	2820	2813	68.7	-11.2	99	647	0.00	2.47	0.00	0.000	260	0.000	0.103	2765	3604	2816	2820	2812	0	0	0	0	0	0	15.00	14.75	15.01
695	-0.71	-293.3	2764	3604	2821	2812	75.2	-12.3	104	702	0.12	2.40	0.00	0.000	3078	0.201	0.066	2804	2192	2816	2820	2812	0	0	0	0	0	0	14.72	14.77	14.84
832	-0.71	-293.3	2803	2186	2821	2812	90.4	-11.4	117	837	0.00	2.42	0.00	0.000	516	0.000	0.090	2804	783	2816	2820	2812	0	0	0	0	0	0	15.03	14.78	15.04
879	-0.71	-293.3	2803	783	2821	2812	95.6	-11.6	121	885	0.00	2.40	0.00	0.000	1030	0.000	0.075	2797	2191	2816	2821	2812	0	0	0	0	0	0	14.90	14.79	14.92
1005	-0.71	-293.3	2797	2191	2821	2812	111.4	-11.6	134	1011	0.00	2.47	0.00	0.000	260	0.000	0.105	2787	3595	2815	2820	2811	0	0	0	0	0	0	15.04	14.78	15.05
1062	-0.71	-293.3	2786	3596	2821	2812	117.4	-11.0	139	1069	0.00	2.38	0.00	0.000	1030	0.000	0.065	2787	2188	2816	2821	2812	0	0	0	0	0	0	14.92	14.83	14.93
1189	-0.71	-293.3	2786	2186	2820	2812	133.2	-12.6	152	1195	0.00	2.40	0.00	0.000	516	0.000	0.086	2787	783	2816	2821	2812	0	0	0	0	0	0	15.06	14.83	15.07
1207	-0.71	-293.3	2786	783	2821	2812	134.9	-13.0	153	1214	0.00	2.40	0.00	0.000	1030	0.000	0.076	2781	2192	2816	2821	2812	0	0	0	0	0	0	14.92	14.82	14.94
1336	-0.71	-293.3	2780	2192	2820	2812	152.7	-12.6	166	1342	0.00	2.47	0.00	0.000	260	0.000	0.102	2770	3603	2816	2820	2812	0	0	0	0	0	0	15.07	14.81	15.07
1400	-0.71	-293.3	2770	3606	2821	2812	161.0	-12.2	172	1406	0.00	2.38	0.00	0.000	1030	0.000	0.065	2770	2190	2816	2821	2812	0	0	0	0	0	0	14.92	14.83	14.93
1522	end dive: TARGET_DEPTH_EXCEEDED
state	1522	begin apogee
1530	-0.29	0.0	2770	2080	2820	2812	177.5	-13.2	184	1774	0.50	0.00	236.82	1.084	10246	0.171	0.000	2928	2080	1639	1729	1549	0	0	0	0	0	0	14.78	14.21	13.76
1775	end apogee: CONTROL_FINISHED_OK
state	1775	begin climb
1778	0.71	293.3	2929	2080	1728	1549	184.3	0.0	209	2023	1.00	2.47	232.40	1.036	10756	0.125	0.095	3249	731	500	568	432	0	0	0	0	0	0	14.18	14.14	13.75
2051	0.74	374.4	3249	731	567	429	172.9	8.2	236	2057	0.00	2.45	0.00	0.000	1030	0.000	0.073	3249	2115	498	567	429	0	0	0	0	0	0	14.38	14.28	14.40
2187	0.74	374.4	3249	2114	566	424	160.2	9.9	249	2192	0.00	2.50	0.00	0.000	260	0.000	0.099	3249	3518	495	566	424	0	0	0	0	0	0	14.73	14.50	14.74
2220	0.74	375.7	3249	3519	566	423	156.7	9.7	252	2226	0.00	2.40	0.00	0.000	1030	0.000	0.071	3256	2137	494	566	423	0	0	0	0	0	0	14.64	14.55	14.67
2356	0.75	395.4	3256	2136	566	422	143.6	9.4	265	2361	0.00	2.53	0.00	0.000	516	0.000	0.101	3265	703	493	566	420	0	0	0	0	0	0	14.85	14.62	14.86
2420	0.75	395.4	3265	703	566	421	137.3	9.8	271	2425	0.00	2.42	0.00	0.000	1030	0.000	0.074	3265	2114	493	565	421	0	0	0	0	0	0	14.76	14.66	14.78
2555	0.75	395.4	3265	2113	565	419	123.7	10.4	284	2561	0.00	0.00	0.00	0.000	6	0.000	0.000	3265	2113	492	566	418	0	0	0	0	0	0	14.93	14.95	14.95
2683	0.76	422.1	3265	2113	566	416	111.3	9.2	297	2690	0.00	2.47	0.00	0.000	516	0.000	0.098	3274	704	491	566	416	0	0	0	0	0	0	14.97	14.73	14.98
2758	0.76	426.7	3274	704	566	416	104.3	9.7	304	2763	0.00	2.40	0.00	0.000	1030	0.000	0.073	3274	2115	490	565	416	0	0	0	0	0	0	14.86	14.76	14.88
2893	0.76	426.7	3273	2115	566	414	91.3	10.1	317	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	3274	2115	489	565	414	0	0	0	0	0	0	15.01	15.02	15.02
3021	0.76	426.7	3273	2114	566	413	78.4	10.1	330	3027	0.00	2.47	0.00	0.000	516	0.000	0.098	3280	704	489	566	413	0	0	0	0	0	0	15.03	14.78	15.04
3095	0.76	426.7	3280	704	566	413	70.5	10.9	337	3100	0.00	2.40	0.00	0.000	1030	0.000	0.073	3281	2122	489	566	413	0	0	0	0	0	0	14.91	14.81	14.93
3230	0.76	426.7	3280	2121	566	411	56.4	10.2	350	3235	0.00	2.42	0.00	0.000	260	0.000	0.099	3280	3517	488	566	411	0	0	0	0	0	0	15.05	14.81	15.05
3254	0.76	426.7	3279	3516	566	411	53.7	10.5	352	3259	0.00	2.40	0.00	0.000	1030	0.000	0.072	3289	2110	488	566	411	0	0	0	0	0	0	14.92	14.83	14.94
3383	0.76	426.7	3288	2108	566	411	39.5	10.9	373	3390	0.00	2.45	0.00	0.000	516	0.000	0.101	3298	697	488	566	410	0	0	0	0	0	0	15.04	14.81	15.06
3493	0.79	490.8	3298	697	566	410	29.1	8.5	394	3500	0.00	2.40	0.00	0.000	1030	0.000	0.073	3298	2115	488	566	410	0	0	0	0	0	0	14.93	14.83	14.95
3566	0.80	535.1	3298	2115	566	410	23.0	8.9	407	3572	0.00	2.45	0.00	0.000	260	0.000	0.101	3298	3522	487	564	410	0	0	0	0	0	0	15.04	14.81	15.06
3591	0.80	538.1	3298	3521	565	410	20.4	9.7	411	3597	0.00	2.42	0.00	0.000	1030	0.000	0.073	3306	2102	488	566	410	0	0	0	0	0	0	14.91	14.82	14.93
3661	0.81	561.5	3306	2100	566	409	13.7	9.3	424	3668	0.00	2.45	0.00	0.000	516	0.000	0.103	3314	703	487	566	409	0	0	0	0	0	0	15.04	14.81	15.05
3682	0.81	561.5	3316	703	566	409	11.6	9.8	427	3688	0.00	2.40	0.00	0.000	1030	0.000	0.078	3316	2112	487	566	409	0	0	0	0	0	0	14.93	14.83	14.94
3753	0.81	561.5	3315	2112	566	409	4.5	10.2	440	3760	0.00	2.47	0.00	0.000	516	0.000	0.101	3325	701	487	566	409	0	0	0	0	0	0	15.04	14.81	15.05
3771	end climb: SURFACE_DEPTH_REACHED
state	3771	begin surface coast
3782	end surface coast: CONTROL_FINISHED_OK
state	3782	begin surface