Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 16 * 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 16 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 34 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 -1518.9343 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 -1518.9343

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 34 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 16 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 150114,090206,4743.046,-12224.413,41,0.8,41,16.6 TGT_NAME NW

_CALLS 3 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.039,0.204

_SM_DEPTHo 1.28 KALMAN_X -5103.2,213.6,-514.1,5615.8,-948.7

_SM_ANGLEo -80.9 KALMAN_Y -2291.8,2269.5,-539.4,885.4,-1405.8

GPS2 150114,091402,4742.976,-12224.520,7,0.8,7,16.6 MHEAD_RNG_PITCHd_Wd 2.9,1746,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.022474 _10V_AH 10.5,0.497

SM_CCo 3221,58.00,0.056,0,0,1835,250.21 FG_AHR_24Vo 0.000

SM_GC 1.72,8.85,0.15,58.00,0.047,0.071,0.056,204,2252,1835,-9.84,-1.27,250.21,0,0,0,0,0,0,26.35,26.39,26.27 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,070759 MEM 323792

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16811,456

HUMID 41.77 CAP_FILE_SIZE 76124,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2090926080

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.235,213.9,1

ALTIM_BOTTOM_PING 105.5,7.3 GPS 150114,101100,4742.964,-12224.633,44,1.3,44,16.6

_24V_AH 24.3,1.133

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 242 131.56 SBE_CT 305 24 178.06

Roll_motor 69 76 130.08 nil 0 0 0.00

VBD_pump_during_apogee 178 731 3169.56 nil 0 0 0.00

VBD_pump_during_surface 58 55 78.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 84 103 212.52 nil 0 0 0.00

Iridium_during_connect 114 160 443.87 nil 0 0 0.00

Iridium_during_xfer 253 223 1372.92 nil 0 0 0.00

Transponder_ping 1 420 17.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 26 2.25

TT8 1144 14 179.79

LPSleep 1186 2 27.28

TT8_Active 386 14 57.72

TT8_Sampling 1254 37 493.03

TT8_CF8 43 47 21.59

TT8_Kalman 33 59 20.62

Analog_circuits 834 12 105.15

GPS_charging 0 0 0.00

Compass 707 15 116.82

RAFOS 0 0 0.00

Transponder 16 30 5.30

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 14 begin dive

15 -0.49 -117.2 205 2258 1849 1785 0.0 0.0 0 82 0.00 0.00 -61.12 0.000 16390 0.000 0.000 205 2258 3336 3249 3423 0 0 0 0 0 0 28.83 28.83 26.31

84 -0.49 -117.2 205 2258 3248 3423 2.9 -3.1 12 102 11.98 2.22 0.00 0.000 2308 0.243 0.052 3190 3656 3337 3252 3422 0 0 0 0 0 0 25.72 25.95 28.83

329 -0.49 -117.2 3189 3656 3262 3414 32.5 -11.8 60 336 0.08 2.17 0.00 0.000 3078 0.194 0.041 3203 2256 3338 3263 3413 0 0 0 0 0 0 26.06 26.16 28.83

367 -0.49 -117.2 2224 2254 3253 3407 36.8 -10.6 67 375 0.00 2.22 0.00 0.000 260 0.000 0.056 3195 3654 3337 3266 3409 0 0 0 0 0 0 28.83 26.15 28.83

477 -0.49 -117.2 3195 3654 3266 3409 48.5 -10.3 88 483 0.00 2.17 0.00 0.000 1030 0.000 0.040 3195 2249 3337 3266 3409 0 0 0 0 0 0 28.83 26.23 28.83

515 -0.49 -117.2 3195 2249 3268 3408 52.8 -11.4 95 522 0.00 2.15 0.00 0.000 516 0.000 0.047 3196 824 3337 3267 3408 0 0 0 0 0 0 28.83 26.23 28.83

584 -0.49 -117.2 3195 824 3268 3408 60.9 -11.7 108 591 0.10 2.20 0.00 0.000 3078 0.197 0.045 3207 2248 3338 3268 3408 0 0 0 0 0 0 26.15 26.27 28.83

652 -0.49 -117.2 2240 2246 3256 3406 68.3 -10.1 121 658 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2248 3338 3268 3408 0 0 0 0 0 0 28.83 28.83 28.83

719 -0.49 -117.2 3207 2248 3268 3409 75.1 -10.4 134 725 0.00 2.20 0.00 0.000 260 0.000 0.056 3198 3661 3337 3267 3408 0 0 0 0 0 0 28.83 26.29 28.83

737 -0.49 -117.2 3198 3662 3267 3408 76.9 -10.2 137 743 0.00 2.17 0.00 0.000 1030 0.000 0.037 3198 2236 3338 3268 3408 0 0 0 0 0 0 28.83 26.33 28.83

805 -0.49 -117.2 3197 2229 3268 3408 84.8 -12.4 150 814 0.00 2.25 0.00 0.000 260 0.000 0.057 3188 3658 3338 3268 3408 0 0 0 0 0 0 28.83 26.31 28.83

905 -0.49 -117.2 2208 3657 3257 3406 96.9 -10.7 169 912 0.08 2.15 0.00 0.000 3078 0.194 0.039 3201 2255 3338 3268 3408 0 0 0 0 0 0 26.26 26.36 28.83

974 -0.49 -117.2 3201 2255 3269 3408 104.0 -9.9 178 978 0.00 2.20 0.00 0.000 260 0.000 0.055 3193 3654 3338 3269 3408 0 0 0 0 0 0 28.83 26.34 28.83

1034 -0.49 -117.2 2304 3653 3258 3406 109.7 -10.0 183 1042 0.00 2.20 0.00 0.000 1030 0.000 0.037 3193 2249 3338 3269 3408 0 0 0 0 0 0 28.83 26.40 28.83

1162 -0.49 -117.2 3193 2249 3269 3408 122.3 -9.2 196 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2242 3339 3269 3409 0 0 0 0 0 0 28.83 28.83 28.83

1282 -0.49 -117.2 3192 2242 3269 3408 134.0 -10.6 208 1283 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2242 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

1402 -0.49 -117.2 3192 2242 3269 3408 146.4 -10.1 220 1406 0.00 2.15 0.00 0.000 516 0.000 0.047 3193 829 3339 3270 3408 0 0 0 0 0 0 28.83 26.45 28.83

1440 -0.49 -117.2 2304 827 3258 3406 150.0 -10.1 223 1449 0.05 2.22 0.00 0.000 3078 0.181 0.044 3199 2250 3339 3270 3408 0 0 0 0 0 0 26.34 26.46 28.83

1568 -0.49 -117.2 3199 2250 3270 3408 161.9 -8.8 236 1569 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2250 3339 3270 3408 0 0 0 0 0 0 28.83 28.83 28.83

1688 -0.49 -117.2 3199 2249 3269 3407 171.8 -7.9 248 1689 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2250 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

1786 end dive: TARGET_DEPTH_EXCEEDED

state 1786 begin apogee

1790 -0.12 0.0 3199 2151 3269 3408 180.3 -8.2 258 1881 0.38 0.00 87.07 0.731 10246 0.150 0.000 3319 2151 2856 2827 2886 0 0 0 0 0 0 26.39 28.83 24.80

1882 end apogee: CONTROL_FINISHED_OK

state 1882 begin climb

1883 0.49 117.2 3318 2150 2827 2886 183.0 0.0 267 1984 0.62 0.00 91.28 0.705 10758 0.118 0.000 3521 2150 2378 2414 2343 0 0 0 0 0 0 25.27 28.83 24.32

2103 0.49 117.2 3520 2150 2410 2339 160.5 12.0 289 2107 0.00 2.17 0.00 0.000 516 0.000 0.048 3529 768 2374 2410 2339 0 0 0 0 0 0 28.83 25.53 28.83

2131 0.49 117.2 2794 767 2379 2334 157.3 12.3 291 2138 0.00 2.22 0.00 0.000 1030 0.000 0.036 3530 2160 2373 2410 2337 0 0 0 0 0 0 28.83 25.62 28.83

2258 0.49 117.2 3530 2161 2409 2336 139.0 14.2 304 2259 0.00 0.00 0.00 0.000 6 0.000 0.000 3530 2161 2373 2409 2337 0 0 0 0 0 0 28.83 28.83 28.83

2378 0.49 117.2 3530 2162 2409 2337 120.6 16.0 316 2382 0.00 2.22 0.00 0.000 260 0.000 0.054 3530 3572 2372 2408 2337 0 0 0 0 0 0 28.83 25.94 28.83

2394 0.49 117.2 3530 3572 2406 2337 117.9 16.8 317 2398 0.00 2.17 0.00 0.000 1030 0.000 0.039 3538 2169 2371 2406 2336 0 0 0 0 0 0 28.83 25.98 28.83

2519 0.49 117.2 3538 2169 2406 2336 99.3 13.2 329 2526 0.00 2.17 0.00 0.000 516 0.000 0.051 3547 757 2372 2407 2337 0 0 0 0 0 0 28.83 26.07 28.83

2547 0.49 117.2 3547 757 2407 2337 95.6 13.2 334 2554 0.00 2.17 0.00 0.000 1030 0.000 0.037 3547 2178 2372 2407 2337 0 0 0 0 0 0 28.83 26.10 28.83

2615 0.49 117.2 3547 2177 2407 2336 87.4 11.3 347 2622 0.00 2.15 0.00 0.000 260 0.000 0.053 3547 3565 2371 2406 2336 0 0 0 0 0 0 28.83 26.11 28.83

2634 0.49 117.2 3547 3565 2405 2336 85.3 11.6 350 2641 0.00 2.15 0.00 0.000 1030 0.000 0.038 3556 2164 2370 2405 2336 0 0 0 0 0 0 28.83 26.15 28.83

2702 0.49 117.2 3556 2164 2405 2336 76.2 13.9 363 2709 0.00 2.15 0.00 0.000 516 0.000 0.047 3567 754 2370 2405 2336 0 0 0 0 0 0 28.83 26.17 28.83

2751 0.49 117.2 3566 754 2407 2336 69.2 14.6 372 2759 0.00 2.15 0.00 0.000 1030 0.000 0.037 3567 2165 2371 2406 2336 0 0 0 0 0 0 28.83 26.21 28.83

2821 0.49 117.2 3566 2166 2406 2336 57.7 16.3 385 2826 0.00 0.00 0.00 0.000 6 0.000 0.000 3566 2166 2371 2406 2336 0 0 0 0 0 0 28.83 28.83 28.83

2887 0.49 117.2 2784 2164 2373 2331 46.8 16.6 398 2894 0.00 2.17 0.00 0.000 516 0.000 0.050 3576 756 2371 2406 2336 0 0 0 0 0 0 28.83 26.25 28.83

2926 0.49 117.2 3575 756 2406 2336 40.8 15.9 405 2933 0.10 2.15 0.00 0.000 5126 0.168 0.037 3551 2173 2371 2406 2336 0 0 0 0 0 0 26.18 26.28 28.83

2965 0.49 117.2 3551 2174 2406 2336 35.1 13.9 412 2972 0.00 2.15 0.00 0.000 260 0.000 0.052 3551 3567 2370 2405 2336 0 0 0 0 0 0 28.83 26.25 28.83

2989 0.49 117.2 3550 3566 2404 2335 31.5 15.2 416 2996 0.00 2.15 0.00 0.000 1030 0.000 0.040 3558 2163 2370 2404 2336 0 0 0 0 0 0 28.83 26.29 28.83

3027 0.49 117.2 3558 2163 2404 2335 25.7 14.7 423 3034 0.00 2.15 0.00 0.000 516 0.000 0.048 3569 746 2370 2405 2336 0 0 0 0 0 0 28.83 26.29 28.83

3085 0.49 117.2 3568 746 2406 2336 17.1 14.0 434 3092 0.00 2.15 0.00 0.000 1030 0.000 0.037 3568 2168 2371 2406 2336 0 0 0 0 0 0 28.83 26.32 28.83

3124 0.49 117.2 3568 2168 2406 2335 11.6 14.6 441 3130 0.00 2.15 0.00 0.000 260 0.000 0.052 3569 3562 2370 2405 2335 0 0 0 0 0 0 28.83 26.30 28.83

3157 0.49 117.2 3569 3562 2404 2335 6.5 15.7 447 3164 0.10 2.15 0.00 0.000 5126 0.182 0.039 3554 2158 2369 2404 2335 0 0 0 0 0 0 26.22 26.34 28.83

3185 end climb: SURFACE_DEPTH_REACHED

state 3185 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	16	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	34	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	-1518.9343	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	150114,090206,4743.046,-12224.413,41,0.8,41,16.6	TGT_NAME	NW
_CALLS	3	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.039,0.204
_SM_DEPTHo	1.28	KALMAN_X	-5103.2,213.6,-514.1,5615.8,-948.7
_SM_ANGLEo	-80.9	KALMAN_Y	-2291.8,2269.5,-539.4,885.4,-1405.8
GPS2	150114,091402,4742.976,-12224.520,7,0.8,7,16.6	MHEAD_RNG_PITCHd_Wd	2.9,1746,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.4,1.022474	_10V_AH	10.5,0.497
SM_CCo	3221,58.00,0.056,0,0,1835,250.21	FG_AHR_24Vo	0.000
SM_GC	1.72,8.85,0.15,58.00,0.047,0.071,0.056,204,2252,1835,-9.84,-1.27,250.21,0,0,0,0,0,0,26.35,26.39,26.27	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,070759	MEM	323792
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16811,456
HUMID	41.77	CAP_FILE_SIZE	76124,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2090926080
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.235,213.9,1
ALTIM_BOTTOM_PING	105.5,7.3	GPS	150114,101100,4742.964,-12224.633,44,1.3,44,16.6
_24V_AH	24.3,1.133

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	242	131.56	SBE_CT	305	24	178.06
Roll_motor	69	76	130.08	nil	0	0	0.00
VBD_pump_during_apogee	178	731	3169.56	nil	0	0	0.00
VBD_pump_during_surface	58	55	78.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	84	103	212.52	nil	0	0	0.00
Iridium_during_connect	114	160	443.87	nil	0	0	0.00
Iridium_during_xfer	253	223	1372.92	nil	0	0	0.00
Transponder_ping	1	420	17.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	26	2.25
TT8	1144	14	179.79
LPSleep	1186	2	27.28
TT8_Active	386	14	57.72
TT8_Sampling	1254	37	493.03
TT8_CF8	43	47	21.59
TT8_Kalman	33	59	20.62
Analog_circuits	834	12	105.15
GPS_charging	0	0	0.00
Compass	707	15	116.82
RAFOS	0	0	0.00
Transponder	16	30	5.30

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	14	begin dive
15	-0.49	-117.2	205	2258	1849	1785	0.0	0.0	0	82	0.00	0.00	-61.12	0.000	16390	0.000	0.000	205	2258	3336	3249	3423	0	0	0	0	0	0	28.83	28.83	26.31
84	-0.49	-117.2	205	2258	3248	3423	2.9	-3.1	12	102	11.98	2.22	0.00	0.000	2308	0.243	0.052	3190	3656	3337	3252	3422	0	0	0	0	0	0	25.72	25.95	28.83
329	-0.49	-117.2	3189	3656	3262	3414	32.5	-11.8	60	336	0.08	2.17	0.00	0.000	3078	0.194	0.041	3203	2256	3338	3263	3413	0	0	0	0	0	0	26.06	26.16	28.83
367	-0.49	-117.2	2224	2254	3253	3407	36.8	-10.6	67	375	0.00	2.22	0.00	0.000	260	0.000	0.056	3195	3654	3337	3266	3409	0	0	0	0	0	0	28.83	26.15	28.83
477	-0.49	-117.2	3195	3654	3266	3409	48.5	-10.3	88	483	0.00	2.17	0.00	0.000	1030	0.000	0.040	3195	2249	3337	3266	3409	0	0	0	0	0	0	28.83	26.23	28.83
515	-0.49	-117.2	3195	2249	3268	3408	52.8	-11.4	95	522	0.00	2.15	0.00	0.000	516	0.000	0.047	3196	824	3337	3267	3408	0	0	0	0	0	0	28.83	26.23	28.83
584	-0.49	-117.2	3195	824	3268	3408	60.9	-11.7	108	591	0.10	2.20	0.00	0.000	3078	0.197	0.045	3207	2248	3338	3268	3408	0	0	0	0	0	0	26.15	26.27	28.83
652	-0.49	-117.2	2240	2246	3256	3406	68.3	-10.1	121	658	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2248	3338	3268	3408	0	0	0	0	0	0	28.83	28.83	28.83
719	-0.49	-117.2	3207	2248	3268	3409	75.1	-10.4	134	725	0.00	2.20	0.00	0.000	260	0.000	0.056	3198	3661	3337	3267	3408	0	0	0	0	0	0	28.83	26.29	28.83
737	-0.49	-117.2	3198	3662	3267	3408	76.9	-10.2	137	743	0.00	2.17	0.00	0.000	1030	0.000	0.037	3198	2236	3338	3268	3408	0	0	0	0	0	0	28.83	26.33	28.83
805	-0.49	-117.2	3197	2229	3268	3408	84.8	-12.4	150	814	0.00	2.25	0.00	0.000	260	0.000	0.057	3188	3658	3338	3268	3408	0	0	0	0	0	0	28.83	26.31	28.83
905	-0.49	-117.2	2208	3657	3257	3406	96.9	-10.7	169	912	0.08	2.15	0.00	0.000	3078	0.194	0.039	3201	2255	3338	3268	3408	0	0	0	0	0	0	26.26	26.36	28.83
974	-0.49	-117.2	3201	2255	3269	3408	104.0	-9.9	178	978	0.00	2.20	0.00	0.000	260	0.000	0.055	3193	3654	3338	3269	3408	0	0	0	0	0	0	28.83	26.34	28.83
1034	-0.49	-117.2	2304	3653	3258	3406	109.7	-10.0	183	1042	0.00	2.20	0.00	0.000	1030	0.000	0.037	3193	2249	3338	3269	3408	0	0	0	0	0	0	28.83	26.40	28.83
1162	-0.49	-117.2	3193	2249	3269	3408	122.3	-9.2	196	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2242	3339	3269	3409	0	0	0	0	0	0	28.83	28.83	28.83
1282	-0.49	-117.2	3192	2242	3269	3408	134.0	-10.6	208	1283	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2242	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
1402	-0.49	-117.2	3192	2242	3269	3408	146.4	-10.1	220	1406	0.00	2.15	0.00	0.000	516	0.000	0.047	3193	829	3339	3270	3408	0	0	0	0	0	0	28.83	26.45	28.83
1440	-0.49	-117.2	2304	827	3258	3406	150.0	-10.1	223	1449	0.05	2.22	0.00	0.000	3078	0.181	0.044	3199	2250	3339	3270	3408	0	0	0	0	0	0	26.34	26.46	28.83
1568	-0.49	-117.2	3199	2250	3270	3408	161.9	-8.8	236	1569	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2250	3339	3270	3408	0	0	0	0	0	0	28.83	28.83	28.83
1688	-0.49	-117.2	3199	2249	3269	3407	171.8	-7.9	248	1689	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2250	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
1786	end dive: TARGET_DEPTH_EXCEEDED
state	1786	begin apogee
1790	-0.12	0.0	3199	2151	3269	3408	180.3	-8.2	258	1881	0.38	0.00	87.07	0.731	10246	0.150	0.000	3319	2151	2856	2827	2886	0	0	0	0	0	0	26.39	28.83	24.80
1882	end apogee: CONTROL_FINISHED_OK
state	1882	begin climb
1883	0.49	117.2	3318	2150	2827	2886	183.0	0.0	267	1984	0.62	0.00	91.28	0.705	10758	0.118	0.000	3521	2150	2378	2414	2343	0	0	0	0	0	0	25.27	28.83	24.32
2103	0.49	117.2	3520	2150	2410	2339	160.5	12.0	289	2107	0.00	2.17	0.00	0.000	516	0.000	0.048	3529	768	2374	2410	2339	0	0	0	0	0	0	28.83	25.53	28.83
2131	0.49	117.2	2794	767	2379	2334	157.3	12.3	291	2138	0.00	2.22	0.00	0.000	1030	0.000	0.036	3530	2160	2373	2410	2337	0	0	0	0	0	0	28.83	25.62	28.83
2258	0.49	117.2	3530	2161	2409	2336	139.0	14.2	304	2259	0.00	0.00	0.00	0.000	6	0.000	0.000	3530	2161	2373	2409	2337	0	0	0	0	0	0	28.83	28.83	28.83
2378	0.49	117.2	3530	2162	2409	2337	120.6	16.0	316	2382	0.00	2.22	0.00	0.000	260	0.000	0.054	3530	3572	2372	2408	2337	0	0	0	0	0	0	28.83	25.94	28.83
2394	0.49	117.2	3530	3572	2406	2337	117.9	16.8	317	2398	0.00	2.17	0.00	0.000	1030	0.000	0.039	3538	2169	2371	2406	2336	0	0	0	0	0	0	28.83	25.98	28.83
2519	0.49	117.2	3538	2169	2406	2336	99.3	13.2	329	2526	0.00	2.17	0.00	0.000	516	0.000	0.051	3547	757	2372	2407	2337	0	0	0	0	0	0	28.83	26.07	28.83
2547	0.49	117.2	3547	757	2407	2337	95.6	13.2	334	2554	0.00	2.17	0.00	0.000	1030	0.000	0.037	3547	2178	2372	2407	2337	0	0	0	0	0	0	28.83	26.10	28.83
2615	0.49	117.2	3547	2177	2407	2336	87.4	11.3	347	2622	0.00	2.15	0.00	0.000	260	0.000	0.053	3547	3565	2371	2406	2336	0	0	0	0	0	0	28.83	26.11	28.83
2634	0.49	117.2	3547	3565	2405	2336	85.3	11.6	350	2641	0.00	2.15	0.00	0.000	1030	0.000	0.038	3556	2164	2370	2405	2336	0	0	0	0	0	0	28.83	26.15	28.83
2702	0.49	117.2	3556	2164	2405	2336	76.2	13.9	363	2709	0.00	2.15	0.00	0.000	516	0.000	0.047	3567	754	2370	2405	2336	0	0	0	0	0	0	28.83	26.17	28.83
2751	0.49	117.2	3566	754	2407	2336	69.2	14.6	372	2759	0.00	2.15	0.00	0.000	1030	0.000	0.037	3567	2165	2371	2406	2336	0	0	0	0	0	0	28.83	26.21	28.83
2821	0.49	117.2	3566	2166	2406	2336	57.7	16.3	385	2826	0.00	0.00	0.00	0.000	6	0.000	0.000	3566	2166	2371	2406	2336	0	0	0	0	0	0	28.83	28.83	28.83
2887	0.49	117.2	2784	2164	2373	2331	46.8	16.6	398	2894	0.00	2.17	0.00	0.000	516	0.000	0.050	3576	756	2371	2406	2336	0	0	0	0	0	0	28.83	26.25	28.83
2926	0.49	117.2	3575	756	2406	2336	40.8	15.9	405	2933	0.10	2.15	0.00	0.000	5126	0.168	0.037	3551	2173	2371	2406	2336	0	0	0	0	0	0	26.18	26.28	28.83
2965	0.49	117.2	3551	2174	2406	2336	35.1	13.9	412	2972	0.00	2.15	0.00	0.000	260	0.000	0.052	3551	3567	2370	2405	2336	0	0	0	0	0	0	28.83	26.25	28.83
2989	0.49	117.2	3550	3566	2404	2335	31.5	15.2	416	2996	0.00	2.15	0.00	0.000	1030	0.000	0.040	3558	2163	2370	2404	2336	0	0	0	0	0	0	28.83	26.29	28.83
3027	0.49	117.2	3558	2163	2404	2335	25.7	14.7	423	3034	0.00	2.15	0.00	0.000	516	0.000	0.048	3569	746	2370	2405	2336	0	0	0	0	0	0	28.83	26.29	28.83
3085	0.49	117.2	3568	746	2406	2336	17.1	14.0	434	3092	0.00	2.15	0.00	0.000	1030	0.000	0.037	3568	2168	2371	2406	2336	0	0	0	0	0	0	28.83	26.32	28.83
3124	0.49	117.2	3568	2168	2406	2335	11.6	14.6	441	3130	0.00	2.15	0.00	0.000	260	0.000	0.052	3569	3562	2370	2405	2335	0	0	0	0	0	0	28.83	26.30	28.83
3157	0.49	117.2	3569	3562	2404	2335	6.5	15.7	447	3164	0.10	2.15	0.00	0.000	5126	0.182	0.039	3554	2158	2369	2404	2335	0	0	0	0	0	0	26.22	26.34	28.83
3185	end climb: SURFACE_DEPTH_REACHED
state	3185	begin surface coast
3206	end surface coast: CONTROL_FINISHED_OK
state	3206	begin surface