Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 12 * 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 12 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 37 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 36 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 -1513.9106 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 3370 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 38 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 38 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 -1513.9106

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 3370 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 37 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 36 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 12 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 150114,045059,4744.334,-12224.979,41,0.9,41,16.6 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,-0.173

_SM_DEPTHo 1.28 KALMAN_X -2824.2,-93.6,433.1,2117.3,-1074.9

_SM_ANGLEo -77.8 KALMAN_Y 1329.2,-974.0,564.1,1991.9,1557.4

GPS2 150114,045539,4744.369,-12224.987,5,0.9,5,16.6 MHEAD_RNG_PITCHd_Wd 172.2,3140,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.021677 _10V_AH 10.5,0.382

SM_CCo 3221,57.85,0.057,0,0,1836,250.21 FG_AHR_24Vo 0.000

SM_GC 1.23,8.82,0.12,57.85,0.047,0.090,0.057,207,2285,1836,-9.81,-1.02,250.21,0,0,0,0,0,0,26.41,26.45,26.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,030336 MEM 323696

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16816,452

HUMID 42.12 CAP_FILE_SIZE 77099,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091319296

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 0.171, 21.8,1

ALTIM_BOTTOM_PING 106.0,7.4 GPS 150114,055234,4744.257,-12224.920,37,1.0,40,16.6

_24V_AH 24.3,0.921

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 243 131.53 SBE_CT 301 24 176.09

Roll_motor 74 97 177.15 nil 0 0 0.00

VBD_pump_during_apogee 178 730 3168.46 nil 0 0 0.00

VBD_pump_during_surface 57 57 80.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.77 nil 0 0 0.00

Iridium_during_connect 30 160 117.97 nil 0 0 0.00

Iridium_during_xfer 153 223 831.33 nil 0 0 0.00

Transponder_ping 1 420 17.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 26 2.37

TT8 1147 14 180.31

LPSleep 994 2 22.87

TT8_Active 416 14 62.09

TT8_Sampling 979 37 384.94

TT8_CF8 43 47 21.61

TT8_Kalman 33 59 20.62

Analog_circuits 890 12 112.22

GPS_charging 0 0 0.00

Compass 739 15 122.21

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 -0.51 -117.2 205 2262 1856 1785 0.0 0.0 0 78 0.00 0.00 -60.50 0.000 16390 0.000 0.000 206 2262 3335 3249 3421 0 0 0 0 0 0 28.83 28.83 26.44

81 -0.51 -117.2 206 2262 3249 3421 2.5 -0.6 11 99 11.85 2.20 0.00 0.000 2308 0.243 0.053 3171 3653 3335 3250 3421 0 0 0 0 0 0 25.85 26.07 28.83

182 -0.51 -117.2 3171 3653 3259 3415 18.0 -13.9 30 190 0.08 2.17 0.00 0.000 3078 0.200 0.042 3185 2257 3337 3260 3415 0 0 0 0 0 0 26.05 26.16 28.83

221 -0.51 -117.2 3185 2256 3262 3413 23.5 -13.0 37 228 0.00 2.22 0.00 0.000 260 0.000 0.057 3177 3650 3337 3262 3412 0 0 0 0 0 0 28.83 26.15 28.83

315 -0.51 -117.2 3176 3650 3263 3412 34.8 -11.6 55 321 0.00 2.17 0.00 0.000 1030 0.000 0.041 3176 2244 3337 3263 3412 0 0 0 0 0 0 28.83 26.24 28.83

353 -0.51 -117.2 3176 2244 3263 3412 38.9 -10.7 62 360 0.00 2.22 0.00 0.000 260 0.000 0.055 3166 3651 3337 3263 3411 0 0 0 0 0 0 28.83 26.22 28.83

371 -0.51 -117.2 3166 3651 3263 3411 41.2 -11.1 65 379 0.10 2.17 0.00 0.000 3078 0.187 0.039 3188 2239 3337 3263 3411 0 0 0 0 0 0 26.13 26.26 28.83

409 -0.51 -117.2 2224 2237 3252 3408 45.1 -9.9 72 415 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2239 3337 3264 3410 0 0 0 0 0 0 28.83 28.83 28.83

447 -0.51 -117.2 3187 2239 3264 3410 49.2 -11.5 79 453 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2238 3337 3265 3410 0 0 0 0 0 0 28.83 28.83 28.83

483 -0.51 -117.2 2208 2237 3253 3408 53.7 -12.5 86 490 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2239 3337 3264 3410 0 0 0 0 0 0 28.83 28.83 28.83

552 -0.51 -117.2 3188 2239 3264 3410 61.5 -11.1 99 558 0.00 2.22 0.00 0.000 260 0.000 0.055 3179 3649 3337 3264 3410 0 0 0 0 0 0 28.83 26.29 28.83

610 -0.51 -117.2 3179 3649 3265 3410 69.4 -13.1 110 617 0.00 2.15 0.00 0.000 1030 0.000 0.041 3179 2250 3336 3265 3408 0 0 0 0 0 0 28.83 26.34 28.83

679 -0.51 -117.2 3179 2251 3265 3409 78.6 -12.7 123 685 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2251 3337 3265 3409 0 0 0 0 0 0 28.83 28.83 28.83

746 -0.51 -117.2 2208 2249 3253 3407 87.1 -12.5 136 753 0.00 2.20 0.00 0.000 260 0.000 0.054 3169 3652 3337 3265 3409 0 0 0 0 0 0 28.83 26.35 28.83

806 -0.51 -117.2 3169 3652 3265 3409 95.2 -14.3 147 813 0.10 2.15 0.00 0.000 3078 0.184 0.037 3191 2246 3337 3266 3409 0 0 0 0 0 0 26.27 26.39 28.83

874 -0.51 -117.2 3191 2246 3266 3408 103.9 -12.0 157 875 0.00 0.00 0.00 0.000 6 0.000 0.000 3191 2246 3337 3266 3408 0 0 0 0 0 0 28.83 28.83 28.83

994 -0.51 -117.2 3191 2246 3266 3409 118.0 -12.0 169 998 0.00 2.12 0.00 0.000 516 0.000 0.049 3191 830 3337 3266 3408 0 0 0 0 0 0 28.83 26.42 28.83

1070 -0.51 -117.2 3191 830 3266 3408 127.4 -12.0 176 1074 0.00 2.17 0.00 0.000 1030 0.000 0.044 3183 2250 3337 3266 3408 0 0 0 0 0 0 28.83 26.44 28.83

1195 -0.51 -117.2 3183 2250 3267 3408 141.7 -11.2 188 1199 0.00 2.15 0.00 0.000 516 0.000 0.046 3183 836 3337 3266 3408 0 0 0 0 0 0 28.83 26.46 28.83

1263 -0.51 -117.2 3182 835 3266 3408 149.4 -12.1 194 1272 0.05 2.20 0.00 0.000 3078 0.181 0.044 3188 2241 3337 3266 3408 0 0 0 0 0 0 26.34 26.47 28.83

1391 -0.51 -117.2 3188 2242 3267 3408 163.3 -11.0 207 1399 0.00 2.20 0.00 0.000 260 0.000 0.056 3179 3665 3337 3266 3408 0 0 0 0 0 0 28.83 26.46 28.83

1493 -0.51 -117.2 2280 3664 3256 3406 175.6 -12.1 217 1501 0.00 2.20 0.00 0.000 1030 0.000 0.036 3179 2242 3337 3267 3408 0 0 0 0 0 0 28.83 26.52 28.83

1530 end dive: TARGET_DEPTH_EXCEEDED

state 1530 begin apogee

1534 -0.13 0.0 3179 2152 3268 3408 180.5 -12.0 221 1625 0.40 0.00 86.97 0.731 10246 0.156 0.000 3304 2151 2857 2826 2888 0 0 0 0 0 0 26.39 28.83 24.80

1626 end apogee: CONTROL_FINISHED_OK

state 1626 begin climb

1627 0.51 117.2 3304 2151 2827 2888 184.7 0.0 230 1728 0.68 0.00 91.50 0.706 10246 0.123 0.000 3513 2151 2378 2414 2342 0 0 0 0 0 0 25.27 28.83 24.33

1847 0.51 117.2 3513 2151 2410 2338 168.6 8.3 252 1856 0.00 2.30 0.00 0.000 260 0.000 0.054 3513 3572 2373 2409 2338 0 0 0 0 0 0 28.83 25.53 28.83

1889 0.51 117.2 2808 3571 2378 2334 164.4 10.2 256 1897 0.00 2.25 0.00 0.000 1030 0.000 0.039 3521 2176 2372 2406 2338 0 0 0 0 0 0 28.83 25.65 28.83

2017 0.51 117.2 3521 2176 2407 2338 150.3 10.8 269 2021 0.00 2.20 0.00 0.000 516 0.000 0.048 3529 748 2372 2407 2338 0 0 0 0 0 0 28.83 25.86 28.83

2076 0.51 117.2 3529 747 2407 2338 144.4 10.4 274 2083 0.00 2.20 0.00 0.000 1030 0.000 0.036 3529 2179 2372 2407 2338 0 0 0 0 0 0 28.83 25.95 28.83

2203 0.51 117.2 3530 2180 2407 2337 129.0 12.3 287 2207 0.00 2.22 0.00 0.000 516 0.000 0.049 3536 752 2372 2407 2337 0 0 0 0 0 0 28.83 26.05 28.83

2228 0.51 117.2 3536 751 2407 2337 126.1 11.8 289 2232 0.00 2.17 0.00 0.000 1030 0.000 0.036 3536 2175 2372 2407 2337 0 0 0 0 0 0 28.83 26.08 28.83

2353 0.51 117.2 3536 2175 2408 2337 110.6 12.9 301 2357 0.00 2.20 0.00 0.000 516 0.000 0.049 3545 756 2371 2407 2336 0 0 0 0 0 0 28.83 26.14 28.83

2401 0.51 117.2 2826 755 2377 2331 105.3 11.4 305 2409 0.00 2.20 0.00 0.000 1030 0.000 0.036 3544 2169 2372 2408 2336 0 0 0 0 0 0 28.83 26.19 28.83

2529 0.51 117.2 3544 2170 2407 2336 89.2 11.5 326 2536 0.00 2.17 0.00 0.000 260 0.000 0.053 3545 3574 2371 2406 2336 0 0 0 0 0 0 28.83 26.21 28.83

2572 0.51 117.2 3545 3574 2404 2336 83.4 13.0 334 2579 0.00 2.17 0.00 0.000 1030 0.000 0.038 3553 2157 2370 2405 2336 0 0 0 0 0 0 28.83 26.26 28.83

2642 0.51 117.2 3553 2157 2404 2336 73.9 14.1 347 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2157 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2710 0.51 117.2 3553 2157 2404 2336 64.6 13.3 360 2717 0.00 2.12 0.00 0.000 516 0.000 0.048 3563 754 2370 2405 2336 0 0 0 0 0 0 28.83 26.29 28.83

2737 0.51 117.2 2752 754 2370 2331 60.7 14.6 365 2744 0.00 2.15 0.00 0.000 1030 0.000 0.037 3563 2171 2370 2405 2336 0 0 0 0 0 0 28.83 26.32 28.83

2805 0.51 117.2 3563 2171 2404 2336 50.8 14.6 378 2812 0.00 2.17 0.00 0.000 260 0.000 0.054 3563 3568 2370 2405 2336 0 0 0 0 0 0 28.83 26.29 28.83

2833 0.51 117.2 3563 3569 2403 2335 46.3 16.4 383 2841 0.10 2.15 0.00 0.000 5126 0.187 0.039 3549 2163 2370 2404 2336 0 0 0 0 0 0 26.22 26.34 28.83

2873 0.51 117.2 3549 2163 2404 2336 40.7 13.9 390 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2163 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

2910 0.51 117.2 3549 2163 2404 2334 35.9 12.0 397 2916 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2163 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

2948 0.51 117.2 3549 2163 2404 2336 31.4 12.1 404 2954 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2163 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2984 0.51 117.2 2736 2161 2370 2331 27.0 12.3 411 2991 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2163 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

3022 0.51 117.2 3549 2163 2403 2336 22.1 13.4 418 3029 0.00 2.12 0.00 0.000 516 0.000 0.048 3559 756 2370 2404 2336 0 0 0 0 0 0 28.83 26.36 28.83

3065 0.51 117.2 3558 756 2405 2335 17.0 10.9 426 3072 0.00 2.12 0.00 0.000 1030 0.000 0.035 3559 2171 2370 2405 2335 0 0 0 0 0 0 28.83 26.40 28.83

3103 0.51 117.2 3558 2170 2405 2336 11.9 13.2 433 3110 0.00 2.20 0.00 0.000 516 0.000 0.051 3568 751 2370 2405 2336 0 0 0 0 0 0 28.83 26.38 28.83

3146 0.51 117.2 2816 751 2372 2331 6.7 12.8 441 3153 0.08 2.12 0.00 0.000 5126 0.187 0.036 3552 2162 2370 2405 2336 0 0 0 0 0 0 26.31 26.41 28.83

3178 end climb: SURFACE_DEPTH_REACHED

state 3178 begin surface coast

3206 end surface coast: CONTROL_FINISHED_OK

state 3206 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	12	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	37	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	36	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	-1513.9106	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	3370	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	38	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	150114,045059,4744.334,-12224.979,41,0.9,41,16.6	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,-0.173
_SM_DEPTHo	1.28	KALMAN_X	-2824.2,-93.6,433.1,2117.3,-1074.9
_SM_ANGLEo	-77.8	KALMAN_Y	1329.2,-974.0,564.1,1991.9,1557.4
GPS2	150114,045539,4744.369,-12224.987,5,0.9,5,16.6	MHEAD_RNG_PITCHd_Wd	172.2,3140,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.4,1.021677	_10V_AH	10.5,0.382
SM_CCo	3221,57.85,0.057,0,0,1836,250.21	FG_AHR_24Vo	0.000
SM_GC	1.23,8.82,0.12,57.85,0.047,0.090,0.057,207,2285,1836,-9.81,-1.02,250.21,0,0,0,0,0,0,26.41,26.45,26.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,030336	MEM	323696
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16816,452
HUMID	42.12	CAP_FILE_SIZE	77099,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091319296
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	0.171, 21.8,1
ALTIM_BOTTOM_PING	106.0,7.4	GPS	150114,055234,4744.257,-12224.920,37,1.0,40,16.6
_24V_AH	24.3,0.921

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	243	131.53	SBE_CT	301	24	176.09
Roll_motor	74	97	177.15	nil	0	0	0.00
VBD_pump_during_apogee	178	730	3168.46	nil	0	0	0.00
VBD_pump_during_surface	57	57	80.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.77	nil	0	0	0.00
Iridium_during_connect	30	160	117.97	nil	0	0	0.00
Iridium_during_xfer	153	223	831.33	nil	0	0	0.00
Transponder_ping	1	420	17.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	26	2.37
TT8	1147	14	180.31
LPSleep	994	2	22.87
TT8_Active	416	14	62.09
TT8_Sampling	979	37	384.94
TT8_CF8	43	47	21.61
TT8_Kalman	33	59	20.62
Analog_circuits	890	12	112.22
GPS_charging	0	0	0.00
Compass	739	15	122.21
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	-0.51	-117.2	205	2262	1856	1785	0.0	0.0	0	78	0.00	0.00	-60.50	0.000	16390	0.000	0.000	206	2262	3335	3249	3421	0	0	0	0	0	0	28.83	28.83	26.44
81	-0.51	-117.2	206	2262	3249	3421	2.5	-0.6	11	99	11.85	2.20	0.00	0.000	2308	0.243	0.053	3171	3653	3335	3250	3421	0	0	0	0	0	0	25.85	26.07	28.83
182	-0.51	-117.2	3171	3653	3259	3415	18.0	-13.9	30	190	0.08	2.17	0.00	0.000	3078	0.200	0.042	3185	2257	3337	3260	3415	0	0	0	0	0	0	26.05	26.16	28.83
221	-0.51	-117.2	3185	2256	3262	3413	23.5	-13.0	37	228	0.00	2.22	0.00	0.000	260	0.000	0.057	3177	3650	3337	3262	3412	0	0	0	0	0	0	28.83	26.15	28.83
315	-0.51	-117.2	3176	3650	3263	3412	34.8	-11.6	55	321	0.00	2.17	0.00	0.000	1030	0.000	0.041	3176	2244	3337	3263	3412	0	0	0	0	0	0	28.83	26.24	28.83
353	-0.51	-117.2	3176	2244	3263	3412	38.9	-10.7	62	360	0.00	2.22	0.00	0.000	260	0.000	0.055	3166	3651	3337	3263	3411	0	0	0	0	0	0	28.83	26.22	28.83
371	-0.51	-117.2	3166	3651	3263	3411	41.2	-11.1	65	379	0.10	2.17	0.00	0.000	3078	0.187	0.039	3188	2239	3337	3263	3411	0	0	0	0	0	0	26.13	26.26	28.83
409	-0.51	-117.2	2224	2237	3252	3408	45.1	-9.9	72	415	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2239	3337	3264	3410	0	0	0	0	0	0	28.83	28.83	28.83
447	-0.51	-117.2	3187	2239	3264	3410	49.2	-11.5	79	453	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2238	3337	3265	3410	0	0	0	0	0	0	28.83	28.83	28.83
483	-0.51	-117.2	2208	2237	3253	3408	53.7	-12.5	86	490	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2239	3337	3264	3410	0	0	0	0	0	0	28.83	28.83	28.83
552	-0.51	-117.2	3188	2239	3264	3410	61.5	-11.1	99	558	0.00	2.22	0.00	0.000	260	0.000	0.055	3179	3649	3337	3264	3410	0	0	0	0	0	0	28.83	26.29	28.83
610	-0.51	-117.2	3179	3649	3265	3410	69.4	-13.1	110	617	0.00	2.15	0.00	0.000	1030	0.000	0.041	3179	2250	3336	3265	3408	0	0	0	0	0	0	28.83	26.34	28.83
679	-0.51	-117.2	3179	2251	3265	3409	78.6	-12.7	123	685	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2251	3337	3265	3409	0	0	0	0	0	0	28.83	28.83	28.83
746	-0.51	-117.2	2208	2249	3253	3407	87.1	-12.5	136	753	0.00	2.20	0.00	0.000	260	0.000	0.054	3169	3652	3337	3265	3409	0	0	0	0	0	0	28.83	26.35	28.83
806	-0.51	-117.2	3169	3652	3265	3409	95.2	-14.3	147	813	0.10	2.15	0.00	0.000	3078	0.184	0.037	3191	2246	3337	3266	3409	0	0	0	0	0	0	26.27	26.39	28.83
874	-0.51	-117.2	3191	2246	3266	3408	103.9	-12.0	157	875	0.00	0.00	0.00	0.000	6	0.000	0.000	3191	2246	3337	3266	3408	0	0	0	0	0	0	28.83	28.83	28.83
994	-0.51	-117.2	3191	2246	3266	3409	118.0	-12.0	169	998	0.00	2.12	0.00	0.000	516	0.000	0.049	3191	830	3337	3266	3408	0	0	0	0	0	0	28.83	26.42	28.83
1070	-0.51	-117.2	3191	830	3266	3408	127.4	-12.0	176	1074	0.00	2.17	0.00	0.000	1030	0.000	0.044	3183	2250	3337	3266	3408	0	0	0	0	0	0	28.83	26.44	28.83
1195	-0.51	-117.2	3183	2250	3267	3408	141.7	-11.2	188	1199	0.00	2.15	0.00	0.000	516	0.000	0.046	3183	836	3337	3266	3408	0	0	0	0	0	0	28.83	26.46	28.83
1263	-0.51	-117.2	3182	835	3266	3408	149.4	-12.1	194	1272	0.05	2.20	0.00	0.000	3078	0.181	0.044	3188	2241	3337	3266	3408	0	0	0	0	0	0	26.34	26.47	28.83
1391	-0.51	-117.2	3188	2242	3267	3408	163.3	-11.0	207	1399	0.00	2.20	0.00	0.000	260	0.000	0.056	3179	3665	3337	3266	3408	0	0	0	0	0	0	28.83	26.46	28.83
1493	-0.51	-117.2	2280	3664	3256	3406	175.6	-12.1	217	1501	0.00	2.20	0.00	0.000	1030	0.000	0.036	3179	2242	3337	3267	3408	0	0	0	0	0	0	28.83	26.52	28.83
1530	end dive: TARGET_DEPTH_EXCEEDED
state	1530	begin apogee
1534	-0.13	0.0	3179	2152	3268	3408	180.5	-12.0	221	1625	0.40	0.00	86.97	0.731	10246	0.156	0.000	3304	2151	2857	2826	2888	0	0	0	0	0	0	26.39	28.83	24.80
1626	end apogee: CONTROL_FINISHED_OK
state	1626	begin climb
1627	0.51	117.2	3304	2151	2827	2888	184.7	0.0	230	1728	0.68	0.00	91.50	0.706	10246	0.123	0.000	3513	2151	2378	2414	2342	0	0	0	0	0	0	25.27	28.83	24.33
1847	0.51	117.2	3513	2151	2410	2338	168.6	8.3	252	1856	0.00	2.30	0.00	0.000	260	0.000	0.054	3513	3572	2373	2409	2338	0	0	0	0	0	0	28.83	25.53	28.83
1889	0.51	117.2	2808	3571	2378	2334	164.4	10.2	256	1897	0.00	2.25	0.00	0.000	1030	0.000	0.039	3521	2176	2372	2406	2338	0	0	0	0	0	0	28.83	25.65	28.83
2017	0.51	117.2	3521	2176	2407	2338	150.3	10.8	269	2021	0.00	2.20	0.00	0.000	516	0.000	0.048	3529	748	2372	2407	2338	0	0	0	0	0	0	28.83	25.86	28.83
2076	0.51	117.2	3529	747	2407	2338	144.4	10.4	274	2083	0.00	2.20	0.00	0.000	1030	0.000	0.036	3529	2179	2372	2407	2338	0	0	0	0	0	0	28.83	25.95	28.83
2203	0.51	117.2	3530	2180	2407	2337	129.0	12.3	287	2207	0.00	2.22	0.00	0.000	516	0.000	0.049	3536	752	2372	2407	2337	0	0	0	0	0	0	28.83	26.05	28.83
2228	0.51	117.2	3536	751	2407	2337	126.1	11.8	289	2232	0.00	2.17	0.00	0.000	1030	0.000	0.036	3536	2175	2372	2407	2337	0	0	0	0	0	0	28.83	26.08	28.83
2353	0.51	117.2	3536	2175	2408	2337	110.6	12.9	301	2357	0.00	2.20	0.00	0.000	516	0.000	0.049	3545	756	2371	2407	2336	0	0	0	0	0	0	28.83	26.14	28.83
2401	0.51	117.2	2826	755	2377	2331	105.3	11.4	305	2409	0.00	2.20	0.00	0.000	1030	0.000	0.036	3544	2169	2372	2408	2336	0	0	0	0	0	0	28.83	26.19	28.83
2529	0.51	117.2	3544	2170	2407	2336	89.2	11.5	326	2536	0.00	2.17	0.00	0.000	260	0.000	0.053	3545	3574	2371	2406	2336	0	0	0	0	0	0	28.83	26.21	28.83
2572	0.51	117.2	3545	3574	2404	2336	83.4	13.0	334	2579	0.00	2.17	0.00	0.000	1030	0.000	0.038	3553	2157	2370	2405	2336	0	0	0	0	0	0	28.83	26.26	28.83
2642	0.51	117.2	3553	2157	2404	2336	73.9	14.1	347	2648	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2157	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2710	0.51	117.2	3553	2157	2404	2336	64.6	13.3	360	2717	0.00	2.12	0.00	0.000	516	0.000	0.048	3563	754	2370	2405	2336	0	0	0	0	0	0	28.83	26.29	28.83
2737	0.51	117.2	2752	754	2370	2331	60.7	14.6	365	2744	0.00	2.15	0.00	0.000	1030	0.000	0.037	3563	2171	2370	2405	2336	0	0	0	0	0	0	28.83	26.32	28.83
2805	0.51	117.2	3563	2171	2404	2336	50.8	14.6	378	2812	0.00	2.17	0.00	0.000	260	0.000	0.054	3563	3568	2370	2405	2336	0	0	0	0	0	0	28.83	26.29	28.83
2833	0.51	117.2	3563	3569	2403	2335	46.3	16.4	383	2841	0.10	2.15	0.00	0.000	5126	0.187	0.039	3549	2163	2370	2404	2336	0	0	0	0	0	0	26.22	26.34	28.83
2873	0.51	117.2	3549	2163	2404	2336	40.7	13.9	390	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2163	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
2910	0.51	117.2	3549	2163	2404	2334	35.9	12.0	397	2916	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2163	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
2948	0.51	117.2	3549	2163	2404	2336	31.4	12.1	404	2954	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2163	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2984	0.51	117.2	2736	2161	2370	2331	27.0	12.3	411	2991	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2163	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
3022	0.51	117.2	3549	2163	2403	2336	22.1	13.4	418	3029	0.00	2.12	0.00	0.000	516	0.000	0.048	3559	756	2370	2404	2336	0	0	0	0	0	0	28.83	26.36	28.83
3065	0.51	117.2	3558	756	2405	2335	17.0	10.9	426	3072	0.00	2.12	0.00	0.000	1030	0.000	0.035	3559	2171	2370	2405	2335	0	0	0	0	0	0	28.83	26.40	28.83
3103	0.51	117.2	3558	2170	2405	2336	11.9	13.2	433	3110	0.00	2.20	0.00	0.000	516	0.000	0.051	3568	751	2370	2405	2336	0	0	0	0	0	0	28.83	26.38	28.83
3146	0.51	117.2	2816	751	2372	2331	6.7	12.8	441	3153	0.08	2.12	0.00	0.000	5126	0.187	0.036	3552	2162	2370	2405	2336	0	0	0	0	0	0	26.31	26.41	28.83
3178	end climb: SURFACE_DEPTH_REACHED
state	3178	begin surface coast
3206	end surface coast: CONTROL_FINISHED_OK
state	3206	begin surface