Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 17 * 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 17 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 33 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 40 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 -1520.1938 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 3385 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 40.5 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 40.5 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 -1520.1938

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 3385 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 33 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 40 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 17 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 150114,101100,4742.964,-12224.633,44,1.3,44,16.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.163,0.129

_SM_DEPTHo 1.29 KALMAN_X -5356.8,128.6,-512.6,5774.4,-785.8

_SM_ANGLEo -81.5 KALMAN_Y -2701.5,2394.0,-1366.4,1916.4,-1244.4

GPS2 150114,101521,4742.933,-12224.661,4,0.9,4,16.6 MHEAD_RNG_PITCHd_Wd 22.9,1800,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.008771 _10V_AH 10.5,0.525

SM_CCo 3358,58.12,0.056,0,0,1835,250.21 FG_AHR_24Vo 0.000

SM_GC 1.76,8.93,2.35,58.12,0.049,0.037,0.056,197,2258,1835,-9.88,-0.96,250.21,0,0,0,0,0,0,26.36,26.37,26.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,070759 MEM 323600

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16800,469

HUMID 41.80 CAP_FILE_SIZE 77195,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2090827776

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 0.235,213.3,1

ALTIM_BOTTOM_PING 115.3,7.4 GPS 150114,111435,4742.846,-12224.699,43,0.9,43,16.6

_24V_AH 24.3,1.182

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 241 131.44 SBE_CT 314 24 183.39

Roll_motor 83 74 151.43 nil 0 0 0.00

VBD_pump_during_apogee 178 730 3160.92 nil 0 0 0.00

VBD_pump_during_surface 58 55 78.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.67 nil 0 0 0.00

Iridium_during_connect 30 160 117.65 nil 0 0 0.00

Iridium_during_xfer 130 223 709.46 nil 0 0 0.00

Transponder_ping 2 420 22.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.65

TT8 1197 14 188.03

LPSleep 1100 2 25.30

TT8_Active 377 14 56.30

TT8_Sampling 984 37 386.88

TT8_CF8 39 47 19.48

TT8_Kalman 33 59 20.64

Analog_circuits 862 12 108.68

GPS_charging 0 0 0.00

Compass 759 15 125.48

RAFOS 0 0 0.00

Transponder 17 30 5.52

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 -117.2 204 2253 1852 1789 0.0 0.0 0 77 0.00 0.00 -59.97 0.000 16386 0.000 0.000 204 2254 3301 3213 3389 0 0 0 0 0 0 28.83 28.83 28.83

80 -0.49 -117.2 204 2254 3214 3389 3.0 -6.7 11 99 11.88 2.30 -0.82 0.000 18948 0.242 0.067 3202 839 3336 3257 3415 0 0 0 0 0 0 25.84 26.06 26.27

326 -0.49 -117.2 3202 839 3262 3414 31.9 -9.5 59 333 0.08 2.17 0.00 0.000 3078 0.220 0.047 3207 2242 3337 3263 3411 0 0 0 0 0 0 26.10 26.22 28.83

365 -0.49 -117.2 3206 2242 3265 3410 35.5 -8.6 66 372 0.00 2.17 0.00 0.000 516 0.000 0.050 3207 835 3337 3264 3410 0 0 0 0 0 0 28.83 26.23 28.83

569 -0.49 -117.2 3206 835 3265 3410 54.5 -9.9 106 576 0.00 2.20 0.00 0.000 1030 0.000 0.047 3198 2252 3337 3265 3410 0 0 0 0 0 0 28.83 26.32 28.83

638 -0.49 -117.2 3198 2252 3264 3410 61.1 -9.6 119 644 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2252 3337 3265 3410 0 0 0 0 0 0 28.83 28.83 28.83

705 -0.49 -117.2 2240 2250 3253 3408 67.9 -10.5 132 711 0.00 2.17 0.00 0.000 516 0.000 0.049 3198 837 3337 3264 3410 0 0 0 0 0 0 28.83 26.34 28.83

737 -0.49 -117.2 3198 837 3265 3410 71.7 -12.5 138 745 0.10 2.20 0.00 0.000 3078 0.197 0.047 3210 2261 3337 3265 3410 0 0 0 0 0 0 26.25 26.35 28.83

808 -0.49 -117.2 3210 2261 3265 3409 79.4 -10.9 151 814 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 2261 3337 3265 3409 0 0 0 0 0 0 28.83 28.83 28.83

875 -0.49 -117.2 2248 2259 3254 3407 87.4 -11.8 164 882 0.00 2.17 0.00 0.000 260 0.000 0.057 3200 3662 3337 3266 3408 0 0 0 0 0 0 28.83 26.37 28.83

959 -0.49 -117.2 3201 3662 3266 3409 97.6 -12.6 180 965 0.00 2.17 0.00 0.000 1030 0.000 0.040 3200 2242 3337 3266 3409 0 0 0 0 0 0 28.83 26.41 28.83

1033 -0.49 -117.2 3201 2242 3267 3408 106.1 -11.4 189 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2242 3338 3267 3409 0 0 0 0 0 0 28.83 28.83 28.83

1152 -0.49 -117.2 3200 2241 3267 3409 118.3 -9.8 201 1153 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2242 3338 3267 3409 0 0 0 0 0 0 28.83 28.83 28.83

1272 -0.49 -117.2 3200 2241 3267 3409 129.1 -8.7 213 1276 0.00 2.10 0.00 0.000 516 0.000 0.048 3201 841 3337 3267 3408 0 0 0 0 0 0 28.83 26.46 28.83

1307 -0.49 -117.2 3200 840 3267 3408 132.4 -9.2 216 1312 0.10 2.17 0.00 0.000 3078 0.194 0.045 3212 2257 3338 3267 3409 0 0 0 0 0 0 26.36 26.46 28.83

1432 -0.49 -117.2 3212 2258 3268 3408 143.2 -8.0 228 1436 0.00 2.17 0.00 0.000 260 0.000 0.056 3203 3666 3337 3267 3408 0 0 0 0 0 0 28.83 26.46 28.83

1478 -0.49 -117.2 3203 3666 3267 3408 147.0 -8.3 232 1482 0.00 2.15 0.00 0.000 1030 0.000 0.037 3203 2246 3338 3268 3408 0 0 0 0 0 0 28.83 26.51 28.83

1603 -0.49 -117.2 3203 2237 3268 3408 158.1 -8.8 244 1607 0.00 2.22 0.00 0.000 260 0.000 0.057 3193 3659 3338 3268 3408 0 0 0 0 0 0 28.83 26.48 28.83

1641 -0.49 -117.2 2320 3658 3258 3406 161.3 -9.0 247 1649 0.05 2.17 0.00 0.000 3078 0.158 0.035 3208 2250 3338 3268 3408 0 0 0 0 0 0 26.39 26.52 28.83

1769 -0.49 -117.2 3208 2242 3268 3408 172.2 -10.1 260 1773 0.00 2.10 0.00 0.000 516 0.000 0.043 3208 835 3338 3268 3408 0 0 0 0 0 0 28.83 26.51 28.83

1805 -0.49 -117.2 3208 834 3269 3408 175.9 -10.5 263 1809 0.00 2.17 0.00 0.000 1030 0.000 0.045 3201 2255 3338 3268 3408 0 0 0 0 0 0 28.83 26.52 28.83

1858 end dive: TARGET_DEPTH_EXCEEDED

state 1858 begin apogee

1862 -0.12 0.0 3201 2154 3268 3408 180.7 -9.1 268 1953 0.40 0.00 87.05 0.731 10246 0.152 0.000 3326 2154 2856 2827 2886 0 0 0 0 0 0 26.40 28.83 24.82

1954 end apogee: CONTROL_FINISHED_OK

state 1954 begin climb

1955 0.49 117.2 3326 2153 2828 2886 183.8 0.0 277 2057 0.60 2.28 91.00 0.712 10756 0.116 0.048 3530 766 2378 2414 2342 0 0 0 0 0 0 25.29 24.84 24.32

2072 0.49 117.2 3530 766 2412 2341 174.6 11.0 288 2079 0.00 2.30 0.00 0.000 1030 0.000 0.038 3530 2171 2376 2413 2340 0 0 0 0 0 0 28.83 25.09 28.83

2199 0.49 117.2 3530 2171 2410 2337 159.2 12.1 301 2203 0.00 2.22 0.00 0.000 260 0.000 0.054 3530 3569 2373 2410 2337 0 0 0 0 0 0 28.83 25.58 28.83

2225 0.49 117.2 3530 3569 2407 2337 155.8 13.2 303 2229 0.00 2.20 0.00 0.000 1030 0.000 0.040 3539 2177 2372 2407 2337 0 0 0 0 0 0 28.83 25.65 28.83

2350 0.49 117.2 3538 2177 2407 2337 140.7 11.9 315 2354 0.00 2.20 0.00 0.000 516 0.000 0.049 3547 752 2372 2408 2337 0 0 0 0 0 0 28.83 25.84 28.83

2368 0.49 117.2 3547 751 2407 2337 138.8 11.7 316 2376 0.00 2.25 0.00 0.000 1030 0.000 0.037 3547 2174 2372 2408 2337 0 0 0 0 0 0 28.83 25.89 28.83

2495 0.49 117.2 3547 2175 2407 2337 122.2 12.3 329 2500 0.00 2.22 0.00 0.000 516 0.000 0.050 3557 751 2372 2408 2337 0 0 0 0 0 0 28.83 26.00 28.83

2551 0.49 117.2 3557 750 2406 2337 115.5 11.7 334 2555 0.00 2.17 0.00 0.000 1030 0.000 0.037 3556 2170 2372 2407 2337 0 0 0 0 0 0 28.83 26.06 28.83

2676 0.49 117.2 3556 2172 2407 2336 98.9 13.5 346 2683 0.00 2.17 0.00 0.000 260 0.000 0.051 3557 3568 2370 2405 2336 0 0 0 0 0 0 28.83 26.11 28.83

2695 0.49 117.2 3557 3568 2404 2336 96.1 14.3 349 2701 0.00 2.17 0.00 0.000 1030 0.000 0.038 3567 2155 2370 2404 2336 0 0 0 0 0 0 28.83 26.14 28.83

2764 0.49 117.2 3566 2154 2404 2336 85.6 15.6 362 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2154 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

2832 0.49 117.2 3566 2154 2404 2336 74.6 16.5 375 2839 0.00 2.12 0.00 0.000 516 0.000 0.047 3576 757 2370 2404 2336 0 0 0 0 0 0 28.83 26.20 28.83

2910 0.49 117.2 3576 757 2405 2336 62.0 15.2 390 2918 0.08 2.15 0.00 0.000 5126 0.187 0.038 3558 2168 2370 2405 2336 0 0 0 0 0 0 26.15 26.25 28.83

2980 0.49 117.2 3559 2169 2405 2336 51.2 15.9 403 2987 0.00 2.17 0.00 0.000 260 0.000 0.051 3559 3571 2370 2404 2336 0 0 0 0 0 0 28.83 26.25 28.83

3013 0.49 117.2 3559 3571 2403 2335 46.0 15.3 409 3020 0.00 2.15 0.00 0.000 1030 0.000 0.039 3567 2163 2369 2404 2335 0 0 0 0 0 0 28.83 26.28 28.83

3050 0.49 117.2 2752 2161 2369 2331 40.2 15.4 416 3057 0.00 2.12 0.00 0.000 516 0.000 0.045 3576 753 2370 2404 2336 0 0 0 0 0 0 28.83 26.29 28.83

3103 0.49 117.2 3576 753 2405 2336 32.2 14.6 426 3112 0.08 2.15 0.00 0.000 5126 0.185 0.036 3559 2175 2370 2405 2336 0 0 0 0 0 0 26.21 26.31 28.83

3143 0.49 117.2 3559 2175 2405 2335 26.4 14.2 433 3149 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2175 2370 2405 2335 0 0 0 0 0 0 28.83 28.83 28.83

3180 0.49 117.2 3559 2175 2405 2335 21.3 13.5 440 3187 0.00 2.17 0.00 0.000 516 0.000 0.045 3568 755 2370 2405 2336 0 0 0 0 0 0 28.83 26.32 28.83

3208 0.49 117.2 3568 755 2405 2335 17.5 13.9 445 3215 0.00 2.12 0.00 0.000 1030 0.000 0.036 3569 2165 2370 2405 2335 0 0 0 0 0 0 28.83 26.34 28.83

3245 0.49 117.2 2784 2163 2372 2331 12.2 13.9 452 3252 0.00 2.15 0.00 0.000 260 0.000 0.050 3568 3564 2369 2404 2335 0 0 0 0 0 0 28.83 26.32 28.83

3269 0.49 117.2 2752 3564 2368 2331 8.8 15.3 456 3276 0.10 2.12 0.00 0.000 5126 0.184 0.034 3554 2157 2369 2404 2335 0 0 0 0 0 0 26.23 26.36 28.83

3308 0.49 117.2 2720 2155 2369 2330 3.3 12.8 463 3314 0.00 2.12 0.00 0.000 516 0.000 0.044 3564 748 2369 2404 2335 0 0 0 0 0 0 28.83 26.35 28.83

3319 end climb: SURFACE_DEPTH_REACHED

state 3319 begin surface coast

3341 end surface coast: CONTROL_FINISHED_OK

state 3341 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	17	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	33	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	40	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	-1520.1938	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	3385	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	40.5	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	150114,101100,4742.964,-12224.633,44,1.3,44,16.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.163,0.129
_SM_DEPTHo	1.29	KALMAN_X	-5356.8,128.6,-512.6,5774.4,-785.8
_SM_ANGLEo	-81.5	KALMAN_Y	-2701.5,2394.0,-1366.4,1916.4,-1244.4
GPS2	150114,101521,4742.933,-12224.661,4,0.9,4,16.6	MHEAD_RNG_PITCHd_Wd	22.9,1800,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.5,1.008771	_10V_AH	10.5,0.525
SM_CCo	3358,58.12,0.056,0,0,1835,250.21	FG_AHR_24Vo	0.000
SM_GC	1.76,8.93,2.35,58.12,0.049,0.037,0.056,197,2258,1835,-9.88,-0.96,250.21,0,0,0,0,0,0,26.36,26.37,26.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,070759	MEM	323600
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16800,469
HUMID	41.80	CAP_FILE_SIZE	77195,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2090827776
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	0.235,213.3,1
ALTIM_BOTTOM_PING	115.3,7.4	GPS	150114,111435,4742.846,-12224.699,43,0.9,43,16.6
_24V_AH	24.3,1.182

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	241	131.44	SBE_CT	314	24	183.39
Roll_motor	83	74	151.43	nil	0	0	0.00
VBD_pump_during_apogee	178	730	3160.92	nil	0	0	0.00
VBD_pump_during_surface	58	55	78.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.67	nil	0	0	0.00
Iridium_during_connect	30	160	117.65	nil	0	0	0.00
Iridium_during_xfer	130	223	709.46	nil	0	0	0.00
Transponder_ping	2	420	22.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.65
TT8	1197	14	188.03
LPSleep	1100	2	25.30
TT8_Active	377	14	56.30
TT8_Sampling	984	37	386.88
TT8_CF8	39	47	19.48
TT8_Kalman	33	59	20.64
Analog_circuits	862	12	108.68
GPS_charging	0	0	0.00
Compass	759	15	125.48
RAFOS	0	0	0.00
Transponder	17	30	5.52

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	204	2253	1852	1789	0.0	0.0	0	77	0.00	0.00	-59.97	0.000	16386	0.000	0.000	204	2254	3301	3213	3389	0	0	0	0	0	0	28.83	28.83	28.83
80	-0.49	-117.2	204	2254	3214	3389	3.0	-6.7	11	99	11.88	2.30	-0.82	0.000	18948	0.242	0.067	3202	839	3336	3257	3415	0	0	0	0	0	0	25.84	26.06	26.27
326	-0.49	-117.2	3202	839	3262	3414	31.9	-9.5	59	333	0.08	2.17	0.00	0.000	3078	0.220	0.047	3207	2242	3337	3263	3411	0	0	0	0	0	0	26.10	26.22	28.83
365	-0.49	-117.2	3206	2242	3265	3410	35.5	-8.6	66	372	0.00	2.17	0.00	0.000	516	0.000	0.050	3207	835	3337	3264	3410	0	0	0	0	0	0	28.83	26.23	28.83
569	-0.49	-117.2	3206	835	3265	3410	54.5	-9.9	106	576	0.00	2.20	0.00	0.000	1030	0.000	0.047	3198	2252	3337	3265	3410	0	0	0	0	0	0	28.83	26.32	28.83
638	-0.49	-117.2	3198	2252	3264	3410	61.1	-9.6	119	644	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2252	3337	3265	3410	0	0	0	0	0	0	28.83	28.83	28.83
705	-0.49	-117.2	2240	2250	3253	3408	67.9	-10.5	132	711	0.00	2.17	0.00	0.000	516	0.000	0.049	3198	837	3337	3264	3410	0	0	0	0	0	0	28.83	26.34	28.83
737	-0.49	-117.2	3198	837	3265	3410	71.7	-12.5	138	745	0.10	2.20	0.00	0.000	3078	0.197	0.047	3210	2261	3337	3265	3410	0	0	0	0	0	0	26.25	26.35	28.83
808	-0.49	-117.2	3210	2261	3265	3409	79.4	-10.9	151	814	0.00	0.00	0.00	0.000	6	0.000	0.000	3210	2261	3337	3265	3409	0	0	0	0	0	0	28.83	28.83	28.83
875	-0.49	-117.2	2248	2259	3254	3407	87.4	-11.8	164	882	0.00	2.17	0.00	0.000	260	0.000	0.057	3200	3662	3337	3266	3408	0	0	0	0	0	0	28.83	26.37	28.83
959	-0.49	-117.2	3201	3662	3266	3409	97.6	-12.6	180	965	0.00	2.17	0.00	0.000	1030	0.000	0.040	3200	2242	3337	3266	3409	0	0	0	0	0	0	28.83	26.41	28.83
1033	-0.49	-117.2	3201	2242	3267	3408	106.1	-11.4	189	1034	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2242	3338	3267	3409	0	0	0	0	0	0	28.83	28.83	28.83
1152	-0.49	-117.2	3200	2241	3267	3409	118.3	-9.8	201	1153	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2242	3338	3267	3409	0	0	0	0	0	0	28.83	28.83	28.83
1272	-0.49	-117.2	3200	2241	3267	3409	129.1	-8.7	213	1276	0.00	2.10	0.00	0.000	516	0.000	0.048	3201	841	3337	3267	3408	0	0	0	0	0	0	28.83	26.46	28.83
1307	-0.49	-117.2	3200	840	3267	3408	132.4	-9.2	216	1312	0.10	2.17	0.00	0.000	3078	0.194	0.045	3212	2257	3338	3267	3409	0	0	0	0	0	0	26.36	26.46	28.83
1432	-0.49	-117.2	3212	2258	3268	3408	143.2	-8.0	228	1436	0.00	2.17	0.00	0.000	260	0.000	0.056	3203	3666	3337	3267	3408	0	0	0	0	0	0	28.83	26.46	28.83
1478	-0.49	-117.2	3203	3666	3267	3408	147.0	-8.3	232	1482	0.00	2.15	0.00	0.000	1030	0.000	0.037	3203	2246	3338	3268	3408	0	0	0	0	0	0	28.83	26.51	28.83
1603	-0.49	-117.2	3203	2237	3268	3408	158.1	-8.8	244	1607	0.00	2.22	0.00	0.000	260	0.000	0.057	3193	3659	3338	3268	3408	0	0	0	0	0	0	28.83	26.48	28.83
1641	-0.49	-117.2	2320	3658	3258	3406	161.3	-9.0	247	1649	0.05	2.17	0.00	0.000	3078	0.158	0.035	3208	2250	3338	3268	3408	0	0	0	0	0	0	26.39	26.52	28.83
1769	-0.49	-117.2	3208	2242	3268	3408	172.2	-10.1	260	1773	0.00	2.10	0.00	0.000	516	0.000	0.043	3208	835	3338	3268	3408	0	0	0	0	0	0	28.83	26.51	28.83
1805	-0.49	-117.2	3208	834	3269	3408	175.9	-10.5	263	1809	0.00	2.17	0.00	0.000	1030	0.000	0.045	3201	2255	3338	3268	3408	0	0	0	0	0	0	28.83	26.52	28.83
1858	end dive: TARGET_DEPTH_EXCEEDED
state	1858	begin apogee
1862	-0.12	0.0	3201	2154	3268	3408	180.7	-9.1	268	1953	0.40	0.00	87.05	0.731	10246	0.152	0.000	3326	2154	2856	2827	2886	0	0	0	0	0	0	26.40	28.83	24.82
1954	end apogee: CONTROL_FINISHED_OK
state	1954	begin climb
1955	0.49	117.2	3326	2153	2828	2886	183.8	0.0	277	2057	0.60	2.28	91.00	0.712	10756	0.116	0.048	3530	766	2378	2414	2342	0	0	0	0	0	0	25.29	24.84	24.32
2072	0.49	117.2	3530	766	2412	2341	174.6	11.0	288	2079	0.00	2.30	0.00	0.000	1030	0.000	0.038	3530	2171	2376	2413	2340	0	0	0	0	0	0	28.83	25.09	28.83
2199	0.49	117.2	3530	2171	2410	2337	159.2	12.1	301	2203	0.00	2.22	0.00	0.000	260	0.000	0.054	3530	3569	2373	2410	2337	0	0	0	0	0	0	28.83	25.58	28.83
2225	0.49	117.2	3530	3569	2407	2337	155.8	13.2	303	2229	0.00	2.20	0.00	0.000	1030	0.000	0.040	3539	2177	2372	2407	2337	0	0	0	0	0	0	28.83	25.65	28.83
2350	0.49	117.2	3538	2177	2407	2337	140.7	11.9	315	2354	0.00	2.20	0.00	0.000	516	0.000	0.049	3547	752	2372	2408	2337	0	0	0	0	0	0	28.83	25.84	28.83
2368	0.49	117.2	3547	751	2407	2337	138.8	11.7	316	2376	0.00	2.25	0.00	0.000	1030	0.000	0.037	3547	2174	2372	2408	2337	0	0	0	0	0	0	28.83	25.89	28.83
2495	0.49	117.2	3547	2175	2407	2337	122.2	12.3	329	2500	0.00	2.22	0.00	0.000	516	0.000	0.050	3557	751	2372	2408	2337	0	0	0	0	0	0	28.83	26.00	28.83
2551	0.49	117.2	3557	750	2406	2337	115.5	11.7	334	2555	0.00	2.17	0.00	0.000	1030	0.000	0.037	3556	2170	2372	2407	2337	0	0	0	0	0	0	28.83	26.06	28.83
2676	0.49	117.2	3556	2172	2407	2336	98.9	13.5	346	2683	0.00	2.17	0.00	0.000	260	0.000	0.051	3557	3568	2370	2405	2336	0	0	0	0	0	0	28.83	26.11	28.83
2695	0.49	117.2	3557	3568	2404	2336	96.1	14.3	349	2701	0.00	2.17	0.00	0.000	1030	0.000	0.038	3567	2155	2370	2404	2336	0	0	0	0	0	0	28.83	26.14	28.83
2764	0.49	117.2	3566	2154	2404	2336	85.6	15.6	362	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2154	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
2832	0.49	117.2	3566	2154	2404	2336	74.6	16.5	375	2839	0.00	2.12	0.00	0.000	516	0.000	0.047	3576	757	2370	2404	2336	0	0	0	0	0	0	28.83	26.20	28.83
2910	0.49	117.2	3576	757	2405	2336	62.0	15.2	390	2918	0.08	2.15	0.00	0.000	5126	0.187	0.038	3558	2168	2370	2405	2336	0	0	0	0	0	0	26.15	26.25	28.83
2980	0.49	117.2	3559	2169	2405	2336	51.2	15.9	403	2987	0.00	2.17	0.00	0.000	260	0.000	0.051	3559	3571	2370	2404	2336	0	0	0	0	0	0	28.83	26.25	28.83
3013	0.49	117.2	3559	3571	2403	2335	46.0	15.3	409	3020	0.00	2.15	0.00	0.000	1030	0.000	0.039	3567	2163	2369	2404	2335	0	0	0	0	0	0	28.83	26.28	28.83
3050	0.49	117.2	2752	2161	2369	2331	40.2	15.4	416	3057	0.00	2.12	0.00	0.000	516	0.000	0.045	3576	753	2370	2404	2336	0	0	0	0	0	0	28.83	26.29	28.83
3103	0.49	117.2	3576	753	2405	2336	32.2	14.6	426	3112	0.08	2.15	0.00	0.000	5126	0.185	0.036	3559	2175	2370	2405	2336	0	0	0	0	0	0	26.21	26.31	28.83
3143	0.49	117.2	3559	2175	2405	2335	26.4	14.2	433	3149	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2175	2370	2405	2335	0	0	0	0	0	0	28.83	28.83	28.83
3180	0.49	117.2	3559	2175	2405	2335	21.3	13.5	440	3187	0.00	2.17	0.00	0.000	516	0.000	0.045	3568	755	2370	2405	2336	0	0	0	0	0	0	28.83	26.32	28.83
3208	0.49	117.2	3568	755	2405	2335	17.5	13.9	445	3215	0.00	2.12	0.00	0.000	1030	0.000	0.036	3569	2165	2370	2405	2335	0	0	0	0	0	0	28.83	26.34	28.83
3245	0.49	117.2	2784	2163	2372	2331	12.2	13.9	452	3252	0.00	2.15	0.00	0.000	260	0.000	0.050	3568	3564	2369	2404	2335	0	0	0	0	0	0	28.83	26.32	28.83
3269	0.49	117.2	2752	3564	2368	2331	8.8	15.3	456	3276	0.10	2.12	0.00	0.000	5126	0.184	0.034	3554	2157	2369	2404	2335	0	0	0	0	0	0	26.23	26.36	28.83
3308	0.49	117.2	2720	2155	2369	2330	3.3	12.8	463	3314	0.00	2.12	0.00	0.000	516	0.000	0.044	3564	748	2369	2404	2335	0	0	0	0	0	0	28.83	26.35	28.83
3319	end climb: SURFACE_DEPTH_REACHED
state	3319	begin surface coast
3341	end surface coast: CONTROL_FINISHED_OK
state	3341	begin surface