Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 18 * 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 18 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 41 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 39 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 -1521.45 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 -1521.45

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 41 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 39 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 18 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 150114,111435,4742.846,-12224.699,43,0.9,43,16.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.076,0.193

_SM_DEPTHo 1.33 KALMAN_X -7041.0,491.1,-121.1,6631.4,-1241.4

_SM_ANGLEo -79.5 KALMAN_Y -3026.5,2176.2,-1696.9,2538.5,-870.7

GPS2 150114,111843,4742.797,-12224.725,4,1.0,4,16.6 MHEAD_RNG_PITCHd_Wd 22.3,2045,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.013330 _10V_AH 10.5,0.553

SM_CCo 3367,58.25,0.056,0,0,1835,250.21 FG_AHR_24Vo 0.000

SM_GC 1.72,8.93,2.08,58.25,0.050,0.035,0.056,205,2233,1835,-9.86,0.93,250.21,0,0,0,0,0,0,26.39,26.41,26.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,101002 MEM 323596

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 20097,479

HUMID 41.69 CAP_FILE_SIZE 77304,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2090729472

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 0.188,218.0,1

ALTIM_BOTTOM_PING 115.7,7.4 GPS 150114,121806,4742.810,-12224.661,41,0.9,41,16.6

_24V_AH 24.3,1.230

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 237 128.20 SBE_CT 320 24 187.10

Roll_motor 73 56 101.73 nil 0 0 0.00

VBD_pump_during_apogee 176 731 3139.79 nil 0 0 0.00

VBD_pump_during_surface 58 55 79.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.53 nil 0 0 0.00

Iridium_during_connect 30 160 120.12 nil 0 0 0.00

Iridium_during_xfer 122 223 664.61 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 1.66

TT8 1210 14 190.17

LPSleep 1060 2 24.39

TT8_Active 389 14 58.18

TT8_Sampling 997 37 392.23

TT8_CF8 35 47 17.77

TT8_Kalman 33 59 20.62

Analog_circuits 889 12 112.13

GPS_charging 0 0 0.00

Compass 787 15 130.14

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 13 begin dive

14 -0.49 -117.2 197 2274 1853 1787 0.0 0.0 0 77 0.00 0.00 -60.75 0.000 16386 0.000 0.000 197 2274 3328 3241 3416 0 0 0 0 0 0 28.83 28.83 28.83

80 -0.49 -117.2 197 2274 3241 3416 3.1 -6.7 11 98 11.77 2.25 0.00 0.000 2564 0.238 0.052 3203 844 3330 3245 3416 0 0 0 0 0 0 25.86 26.07 28.83

294 -0.49 -117.2 3202 844 3254 3409 28.3 -10.4 53 302 0.08 2.17 0.00 0.000 3078 0.216 0.047 3207 2245 3332 3256 3408 0 0 0 0 0 0 26.10 26.22 28.83

332 -0.49 -117.2 2240 2244 3245 3404 32.1 -9.6 60 338 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2247 3331 3257 3406 0 0 0 0 0 0 28.83 28.83 28.83

370 -0.49 -117.2 3207 2247 3257 3406 35.8 -9.7 67 375 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2247 3332 3258 3406 0 0 0 0 0 0 28.83 28.83 28.83

407 -0.49 -117.2 3207 2247 3257 3406 39.4 -9.7 74 413 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2246 3332 3258 3406 0 0 0 0 0 0 28.83 28.83 28.83

445 -0.49 -117.2 3207 2246 3258 3406 43.1 -9.7 81 451 0.00 2.20 0.00 0.000 260 0.000 0.055 3198 3660 3332 3258 3406 0 0 0 0 0 0 28.83 26.25 28.83

478 -0.49 -117.2 3197 3661 3258 3406 46.4 -9.9 87 485 0.00 2.15 0.00 0.000 1030 0.000 0.039 3198 2255 3332 3258 3406 0 0 0 0 0 0 28.83 26.29 28.83

515 -0.49 -117.2 2216 2251 3245 3404 50.2 -9.4 94 522 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2253 3331 3258 3405 0 0 0 0 0 0 28.83 28.83 28.83

584 -0.49 -117.2 3198 2246 3258 3405 57.1 -9.8 107 590 0.00 2.12 0.00 0.000 516 0.000 0.044 3198 831 3331 3258 3405 0 0 0 0 0 0 28.83 26.32 28.83

701 -0.49 -117.2 3198 831 3258 3405 70.1 -11.8 130 710 0.10 2.20 0.00 0.000 3078 0.192 0.047 3209 2249 3331 3258 3405 0 0 0 0 0 0 26.25 26.35 28.83

772 -0.49 -117.2 3209 2249 3258 3405 76.7 -7.7 143 778 0.00 2.17 0.00 0.000 260 0.000 0.055 3200 3658 3331 3258 3405 0 0 0 0 0 0 28.83 26.35 28.83

820 -0.49 -117.2 2208 3657 3246 3403 81.7 -11.2 152 827 0.00 2.15 0.00 0.000 1030 0.000 0.037 3201 2248 3332 3259 3405 0 0 0 0 0 0 28.83 26.40 28.83

889 -0.49 -117.2 3200 2240 3259 3404 89.3 -10.7 165 895 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2240 3331 3259 3404 0 0 0 0 0 0 28.83 28.83 28.83

956 -0.49 -117.2 3200 2239 3259 3404 96.5 -11.5 178 963 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2240 3331 3259 3404 0 0 0 0 0 0 28.83 28.83 28.83

1024 -0.49 -117.2 3200 2240 3259 3404 103.5 -10.7 188 1028 0.00 2.22 0.00 0.000 260 0.000 0.057 3190 3658 3331 3259 3404 0 0 0 0 0 0 28.83 26.40 28.83

1090 -0.49 -117.2 3190 3658 3259 3404 110.8 -11.1 194 1100 0.10 2.15 0.00 0.000 3078 0.177 0.036 3212 2243 3331 3259 3404 0 0 0 0 0 0 26.33 26.44 28.83

1220 -0.49 -117.2 3212 2236 3260 3404 123.1 -9.4 207 1224 0.00 2.10 0.00 0.000 516 0.000 0.046 3212 836 3331 3260 3403 0 0 0 0 0 0 28.83 26.45 28.83

1278 -0.49 -117.2 3212 837 3260 3403 128.7 -10.2 212 1286 0.00 2.22 0.00 0.000 1030 0.000 0.043 3204 2256 3331 3260 3403 0 0 0 0 0 0 28.83 26.46 28.83

1405 -0.49 -117.2 3204 2257 3260 3403 142.4 -11.1 225 1407 0.00 0.00 0.00 0.000 6 0.000 0.000 3204 2257 3331 3260 3403 0 0 0 0 0 0 28.83 28.83 28.83

1525 -0.49 -117.2 3204 2257 3261 3403 155.7 -11.0 237 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 3204 2257 3331 3260 3403 0 0 0 0 0 0 28.83 28.83 28.83

1645 -0.49 -117.2 3204 2257 3260 3403 168.1 -10.2 249 1649 0.00 2.17 0.00 0.000 260 0.000 0.054 3194 3658 3331 3260 3403 0 0 0 0 0 0 28.83 26.49 28.83

1760 end dive: TARGET_DEPTH_EXCEEDED

state 1760 begin apogee

1766 -0.12 0.0 3194 2159 3260 3403 180.2 -10.4 260 1856 0.43 0.00 85.88 0.731 10246 0.151 0.000 3327 2150 2857 2827 2887 0 0 0 0 0 0 26.40 28.83 24.82

1857 end apogee: CONTROL_FINISHED_OK

state 1857 begin climb

1858 0.49 117.2 3327 2150 2827 2887 184.4 0.0 269 1959 0.60 2.25 90.80 0.705 10756 0.116 0.042 3531 758 2379 2415 2343 0 0 0 0 0 0 25.29 24.85 24.32

1991 0.49 117.2 3530 758 2413 2341 174.4 10.1 282 1995 0.00 2.25 0.00 0.000 1030 0.000 0.036 3530 2175 2377 2413 2341 0 0 0 0 0 0 28.83 25.20 28.83

2116 0.49 117.2 3530 2175 2411 2338 160.7 10.9 294 2120 0.00 2.20 0.00 0.000 260 0.000 0.050 3530 3568 2374 2411 2338 0 0 0 0 0 0 28.83 25.60 28.83

2171 0.49 117.2 3530 3568 2407 2338 154.0 12.4 299 2176 0.00 2.20 0.00 0.000 1030 0.000 0.038 3539 2163 2372 2407 2338 0 0 0 0 0 0 28.83 25.75 28.83

2297 0.49 117.2 3539 2163 2408 2337 139.0 11.6 311 2301 0.00 2.15 0.00 0.000 516 0.000 0.047 3546 756 2372 2407 2338 0 0 0 0 0 0 28.83 25.91 28.83

2355 0.49 117.2 3546 755 2408 2338 132.9 10.7 316 2362 0.00 2.20 0.00 0.000 1030 0.000 0.038 3546 2181 2373 2408 2338 0 0 0 0 0 0 28.83 25.98 28.83

2482 0.49 117.2 3546 2181 2408 2337 116.5 13.0 329 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 3546 2181 2372 2408 2337 0 0 0 0 0 0 28.83 28.83 28.83

2602 0.49 117.2 3546 2180 2408 2337 101.6 12.3 341 2606 0.00 2.22 0.00 0.000 516 0.000 0.048 3556 753 2372 2407 2337 0 0 0 0 0 0 28.83 26.14 28.83

2623 0.49 117.2 3556 753 2407 2337 99.1 12.6 343 2630 0.00 2.17 0.00 0.000 1030 0.000 0.037 3556 2176 2372 2408 2337 0 0 0 0 0 0 28.83 26.17 28.83

2690 0.49 117.2 2784 2175 2374 2332 89.9 13.1 356 2697 0.00 2.15 0.00 0.000 260 0.000 0.052 3556 3569 2372 2407 2337 0 0 0 0 0 0 28.83 26.17 28.83

2718 0.49 117.2 3556 3569 2404 2337 85.9 14.5 361 2725 0.00 2.17 0.00 0.000 1030 0.000 0.039 3565 2151 2371 2405 2337 0 0 0 0 0 0 28.83 26.21 28.83

2785 0.49 117.2 2784 2150 2371 2332 75.7 15.1 374 2793 0.00 2.10 0.00 0.000 516 0.000 0.047 3575 758 2371 2406 2337 0 0 0 0 0 0 28.83 26.22 28.83

2829 0.49 117.2 3575 758 2407 2337 68.7 16.0 382 2837 0.08 2.15 0.00 0.000 5126 0.188 0.037 3558 2172 2371 2406 2337 0 0 0 0 0 0 26.15 26.25 28.83

2899 0.49 117.2 3558 2174 2406 2337 57.9 15.3 395 2906 0.00 2.20 0.00 0.000 516 0.000 0.050 3568 749 2371 2406 2337 0 0 0 0 0 0 28.83 26.26 28.83

2972 0.49 117.2 3567 749 2407 2337 48.7 12.5 409 2979 0.00 2.15 0.00 0.000 1030 0.000 0.037 3568 2168 2372 2407 2337 0 0 0 0 0 0 28.83 26.30 28.83

3009 0.49 117.2 2816 2166 2374 2332 43.6 14.0 416 3016 0.00 2.15 0.00 0.000 260 0.000 0.050 3568 3567 2372 2406 2338 0 0 0 0 0 0 28.83 26.28 28.83

3032 0.49 117.2 2816 3566 2372 2332 40.0 16.7 420 3039 0.10 2.15 0.00 0.000 5126 0.188 0.037 3554 2154 2370 2404 2337 0 0 0 0 0 0 26.20 26.32 28.83

3071 0.49 117.2 3554 2154 2405 2337 34.7 12.4 427 3077 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2154 2371 2405 2337 0 0 0 0 0 0 28.83 28.83 28.83

3107 0.49 117.2 2752 2152 2372 2332 30.0 12.1 434 3114 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2154 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

3145 0.49 117.2 3554 2154 2405 2337 25.4 11.9 441 3151 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2154 2371 2405 2337 0 0 0 0 0 0 28.83 28.83 28.83

3181 0.49 117.2 2752 2152 2371 2332 20.8 12.0 448 3187 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2154 2371 2405 2337 0 0 0 0 0 0 28.83 28.83 28.83

3219 0.49 117.2 3554 2154 2405 2337 16.3 12.4 455 3225 0.00 2.10 0.00 0.000 516 0.000 0.046 3564 755 2371 2405 2337 0 0 0 0 0 0 28.83 26.34 28.83

3262 0.49 117.2 3563 753 2406 2337 11.2 12.2 463 3269 0.00 2.12 0.00 0.000 1030 0.000 0.037 3564 2165 2371 2405 2337 0 0 0 0 0 0 28.83 26.37 28.83

3299 0.49 117.2 2768 2165 2373 2332 6.7 12.2 470 3307 0.00 2.15 0.00 0.000 260 0.000 0.050 3564 3568 2371 2406 2337 0 0 0 0 0 0 28.83 26.34 28.83

3328 end climb: SURFACE_DEPTH_REACHED

state 3328 begin surface coast

3351 end surface coast: CONTROL_FINISHED_OK

state 3351 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	18	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	41	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	39	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	-1521.45	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	150114,111435,4742.846,-12224.699,43,0.9,43,16.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.076,0.193
_SM_DEPTHo	1.33	KALMAN_X	-7041.0,491.1,-121.1,6631.4,-1241.4
_SM_ANGLEo	-79.5	KALMAN_Y	-3026.5,2176.2,-1696.9,2538.5,-870.7
GPS2	150114,111843,4742.797,-12224.725,4,1.0,4,16.6	MHEAD_RNG_PITCHd_Wd	22.3,2045,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.4,1.013330	_10V_AH	10.5,0.553
SM_CCo	3367,58.25,0.056,0,0,1835,250.21	FG_AHR_24Vo	0.000
SM_GC	1.72,8.93,2.08,58.25,0.050,0.035,0.056,205,2233,1835,-9.86,0.93,250.21,0,0,0,0,0,0,26.39,26.41,26.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,101002	MEM	323596
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	20097,479
HUMID	41.69	CAP_FILE_SIZE	77304,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2090729472
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	0.188,218.0,1
ALTIM_BOTTOM_PING	115.7,7.4	GPS	150114,121806,4742.810,-12224.661,41,0.9,41,16.6
_24V_AH	24.3,1.230

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	237	128.20	SBE_CT	320	24	187.10
Roll_motor	73	56	101.73	nil	0	0	0.00
VBD_pump_during_apogee	176	731	3139.79	nil	0	0	0.00
VBD_pump_during_surface	58	55	79.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.53	nil	0	0	0.00
Iridium_during_connect	30	160	120.12	nil	0	0	0.00
Iridium_during_xfer	122	223	664.61	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	1.66
TT8	1210	14	190.17
LPSleep	1060	2	24.39
TT8_Active	389	14	58.18
TT8_Sampling	997	37	392.23
TT8_CF8	35	47	17.77
TT8_Kalman	33	59	20.62
Analog_circuits	889	12	112.13
GPS_charging	0	0	0.00
Compass	787	15	130.14
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	13	begin dive
14	-0.49	-117.2	197	2274	1853	1787	0.0	0.0	0	77	0.00	0.00	-60.75	0.000	16386	0.000	0.000	197	2274	3328	3241	3416	0	0	0	0	0	0	28.83	28.83	28.83
80	-0.49	-117.2	197	2274	3241	3416	3.1	-6.7	11	98	11.77	2.25	0.00	0.000	2564	0.238	0.052	3203	844	3330	3245	3416	0	0	0	0	0	0	25.86	26.07	28.83
294	-0.49	-117.2	3202	844	3254	3409	28.3	-10.4	53	302	0.08	2.17	0.00	0.000	3078	0.216	0.047	3207	2245	3332	3256	3408	0	0	0	0	0	0	26.10	26.22	28.83
332	-0.49	-117.2	2240	2244	3245	3404	32.1	-9.6	60	338	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2247	3331	3257	3406	0	0	0	0	0	0	28.83	28.83	28.83
370	-0.49	-117.2	3207	2247	3257	3406	35.8	-9.7	67	375	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2247	3332	3258	3406	0	0	0	0	0	0	28.83	28.83	28.83
407	-0.49	-117.2	3207	2247	3257	3406	39.4	-9.7	74	413	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2246	3332	3258	3406	0	0	0	0	0	0	28.83	28.83	28.83
445	-0.49	-117.2	3207	2246	3258	3406	43.1	-9.7	81	451	0.00	2.20	0.00	0.000	260	0.000	0.055	3198	3660	3332	3258	3406	0	0	0	0	0	0	28.83	26.25	28.83
478	-0.49	-117.2	3197	3661	3258	3406	46.4	-9.9	87	485	0.00	2.15	0.00	0.000	1030	0.000	0.039	3198	2255	3332	3258	3406	0	0	0	0	0	0	28.83	26.29	28.83
515	-0.49	-117.2	2216	2251	3245	3404	50.2	-9.4	94	522	0.00	0.00	0.00	0.000	6	0.000	0.000	3198	2253	3331	3258	3405	0	0	0	0	0	0	28.83	28.83	28.83
584	-0.49	-117.2	3198	2246	3258	3405	57.1	-9.8	107	590	0.00	2.12	0.00	0.000	516	0.000	0.044	3198	831	3331	3258	3405	0	0	0	0	0	0	28.83	26.32	28.83
701	-0.49	-117.2	3198	831	3258	3405	70.1	-11.8	130	710	0.10	2.20	0.00	0.000	3078	0.192	0.047	3209	2249	3331	3258	3405	0	0	0	0	0	0	26.25	26.35	28.83
772	-0.49	-117.2	3209	2249	3258	3405	76.7	-7.7	143	778	0.00	2.17	0.00	0.000	260	0.000	0.055	3200	3658	3331	3258	3405	0	0	0	0	0	0	28.83	26.35	28.83
820	-0.49	-117.2	2208	3657	3246	3403	81.7	-11.2	152	827	0.00	2.15	0.00	0.000	1030	0.000	0.037	3201	2248	3332	3259	3405	0	0	0	0	0	0	28.83	26.40	28.83
889	-0.49	-117.2	3200	2240	3259	3404	89.3	-10.7	165	895	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2240	3331	3259	3404	0	0	0	0	0	0	28.83	28.83	28.83
956	-0.49	-117.2	3200	2239	3259	3404	96.5	-11.5	178	963	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2240	3331	3259	3404	0	0	0	0	0	0	28.83	28.83	28.83
1024	-0.49	-117.2	3200	2240	3259	3404	103.5	-10.7	188	1028	0.00	2.22	0.00	0.000	260	0.000	0.057	3190	3658	3331	3259	3404	0	0	0	0	0	0	28.83	26.40	28.83
1090	-0.49	-117.2	3190	3658	3259	3404	110.8	-11.1	194	1100	0.10	2.15	0.00	0.000	3078	0.177	0.036	3212	2243	3331	3259	3404	0	0	0	0	0	0	26.33	26.44	28.83
1220	-0.49	-117.2	3212	2236	3260	3404	123.1	-9.4	207	1224	0.00	2.10	0.00	0.000	516	0.000	0.046	3212	836	3331	3260	3403	0	0	0	0	0	0	28.83	26.45	28.83
1278	-0.49	-117.2	3212	837	3260	3403	128.7	-10.2	212	1286	0.00	2.22	0.00	0.000	1030	0.000	0.043	3204	2256	3331	3260	3403	0	0	0	0	0	0	28.83	26.46	28.83
1405	-0.49	-117.2	3204	2257	3260	3403	142.4	-11.1	225	1407	0.00	0.00	0.00	0.000	6	0.000	0.000	3204	2257	3331	3260	3403	0	0	0	0	0	0	28.83	28.83	28.83
1525	-0.49	-117.2	3204	2257	3261	3403	155.7	-11.0	237	1527	0.00	0.00	0.00	0.000	6	0.000	0.000	3204	2257	3331	3260	3403	0	0	0	0	0	0	28.83	28.83	28.83
1645	-0.49	-117.2	3204	2257	3260	3403	168.1	-10.2	249	1649	0.00	2.17	0.00	0.000	260	0.000	0.054	3194	3658	3331	3260	3403	0	0	0	0	0	0	28.83	26.49	28.83
1760	end dive: TARGET_DEPTH_EXCEEDED
state	1760	begin apogee
1766	-0.12	0.0	3194	2159	3260	3403	180.2	-10.4	260	1856	0.43	0.00	85.88	0.731	10246	0.151	0.000	3327	2150	2857	2827	2887	0	0	0	0	0	0	26.40	28.83	24.82
1857	end apogee: CONTROL_FINISHED_OK
state	1857	begin climb
1858	0.49	117.2	3327	2150	2827	2887	184.4	0.0	269	1959	0.60	2.25	90.80	0.705	10756	0.116	0.042	3531	758	2379	2415	2343	0	0	0	0	0	0	25.29	24.85	24.32
1991	0.49	117.2	3530	758	2413	2341	174.4	10.1	282	1995	0.00	2.25	0.00	0.000	1030	0.000	0.036	3530	2175	2377	2413	2341	0	0	0	0	0	0	28.83	25.20	28.83
2116	0.49	117.2	3530	2175	2411	2338	160.7	10.9	294	2120	0.00	2.20	0.00	0.000	260	0.000	0.050	3530	3568	2374	2411	2338	0	0	0	0	0	0	28.83	25.60	28.83
2171	0.49	117.2	3530	3568	2407	2338	154.0	12.4	299	2176	0.00	2.20	0.00	0.000	1030	0.000	0.038	3539	2163	2372	2407	2338	0	0	0	0	0	0	28.83	25.75	28.83
2297	0.49	117.2	3539	2163	2408	2337	139.0	11.6	311	2301	0.00	2.15	0.00	0.000	516	0.000	0.047	3546	756	2372	2407	2338	0	0	0	0	0	0	28.83	25.91	28.83
2355	0.49	117.2	3546	755	2408	2338	132.9	10.7	316	2362	0.00	2.20	0.00	0.000	1030	0.000	0.038	3546	2181	2373	2408	2338	0	0	0	0	0	0	28.83	25.98	28.83
2482	0.49	117.2	3546	2181	2408	2337	116.5	13.0	329	2483	0.00	0.00	0.00	0.000	6	0.000	0.000	3546	2181	2372	2408	2337	0	0	0	0	0	0	28.83	28.83	28.83
2602	0.49	117.2	3546	2180	2408	2337	101.6	12.3	341	2606	0.00	2.22	0.00	0.000	516	0.000	0.048	3556	753	2372	2407	2337	0	0	0	0	0	0	28.83	26.14	28.83
2623	0.49	117.2	3556	753	2407	2337	99.1	12.6	343	2630	0.00	2.17	0.00	0.000	1030	0.000	0.037	3556	2176	2372	2408	2337	0	0	0	0	0	0	28.83	26.17	28.83
2690	0.49	117.2	2784	2175	2374	2332	89.9	13.1	356	2697	0.00	2.15	0.00	0.000	260	0.000	0.052	3556	3569	2372	2407	2337	0	0	0	0	0	0	28.83	26.17	28.83
2718	0.49	117.2	3556	3569	2404	2337	85.9	14.5	361	2725	0.00	2.17	0.00	0.000	1030	0.000	0.039	3565	2151	2371	2405	2337	0	0	0	0	0	0	28.83	26.21	28.83
2785	0.49	117.2	2784	2150	2371	2332	75.7	15.1	374	2793	0.00	2.10	0.00	0.000	516	0.000	0.047	3575	758	2371	2406	2337	0	0	0	0	0	0	28.83	26.22	28.83
2829	0.49	117.2	3575	758	2407	2337	68.7	16.0	382	2837	0.08	2.15	0.00	0.000	5126	0.188	0.037	3558	2172	2371	2406	2337	0	0	0	0	0	0	26.15	26.25	28.83
2899	0.49	117.2	3558	2174	2406	2337	57.9	15.3	395	2906	0.00	2.20	0.00	0.000	516	0.000	0.050	3568	749	2371	2406	2337	0	0	0	0	0	0	28.83	26.26	28.83
2972	0.49	117.2	3567	749	2407	2337	48.7	12.5	409	2979	0.00	2.15	0.00	0.000	1030	0.000	0.037	3568	2168	2372	2407	2337	0	0	0	0	0	0	28.83	26.30	28.83
3009	0.49	117.2	2816	2166	2374	2332	43.6	14.0	416	3016	0.00	2.15	0.00	0.000	260	0.000	0.050	3568	3567	2372	2406	2338	0	0	0	0	0	0	28.83	26.28	28.83
3032	0.49	117.2	2816	3566	2372	2332	40.0	16.7	420	3039	0.10	2.15	0.00	0.000	5126	0.188	0.037	3554	2154	2370	2404	2337	0	0	0	0	0	0	26.20	26.32	28.83
3071	0.49	117.2	3554	2154	2405	2337	34.7	12.4	427	3077	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2154	2371	2405	2337	0	0	0	0	0	0	28.83	28.83	28.83
3107	0.49	117.2	2752	2152	2372	2332	30.0	12.1	434	3114	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2154	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
3145	0.49	117.2	3554	2154	2405	2337	25.4	11.9	441	3151	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2154	2371	2405	2337	0	0	0	0	0	0	28.83	28.83	28.83
3181	0.49	117.2	2752	2152	2371	2332	20.8	12.0	448	3187	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2154	2371	2405	2337	0	0	0	0	0	0	28.83	28.83	28.83
3219	0.49	117.2	3554	2154	2405	2337	16.3	12.4	455	3225	0.00	2.10	0.00	0.000	516	0.000	0.046	3564	755	2371	2405	2337	0	0	0	0	0	0	28.83	26.34	28.83
3262	0.49	117.2	3563	753	2406	2337	11.2	12.2	463	3269	0.00	2.12	0.00	0.000	1030	0.000	0.037	3564	2165	2371	2405	2337	0	0	0	0	0	0	28.83	26.37	28.83
3299	0.49	117.2	2768	2165	2373	2332	6.7	12.2	470	3307	0.00	2.15	0.00	0.000	260	0.000	0.050	3564	3568	2371	2406	2337	0	0	0	0	0	0	28.83	26.34	28.83
3328	end climb: SURFACE_DEPTH_REACHED
state	3328	begin surface coast
3351	end surface coast: CONTROL_FINISHED_OK
state	3351	begin surface