Glider dive log

LakeWA 31Oct16 * SG401 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0125 ROLL_MAX 3930 COMPASS_USE 4

MISSION 6 HD_C 1e-06 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

DIVE 3 HEADING 215 C_ROLL_DIVE 2220 ALTIM_TOP_PING_RANGE 0

N_DIVES 3 ESCAPE_HEADING 0 C_ROLL_CLIMB 2310 ALTIM_BOTTOM_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 30

D_TGT 40 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 80 ALTIM_PING_DELTA 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 45 ALTIM_FREQUENCY 13

D_NO_BLEED 500 SM_CC 200 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 1

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 53 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 1 VBD_MAX 4044 INT_PRESSURE_YINT -1.1

D_CALL 0 N_NOCOMM 1 C_VBD 1970 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE2 -1

T_DIVE 14 CALL_TRIES 5 VBD_TIMEOUT 180 DEVICE3 -1

T_MISSION 25 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT 3 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 30945 VBD_MAXERRORS 0 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_BATHY 0 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3775 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2370 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 100 PITCH_DBAND 0.1 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 20 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0044078007

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_10V 0 SEABIRD_T_H 0.00063626393

RHO 0.99800003 PITCH_GAIN 16.700001 FG_AHR_24V 0 SEABIRD_T_I 2.4955199e-05

MASS 71182 PITCH_TIMEOUT 50 PHONE_SUPPLY 2 SEABIRD_T_J 2.9785231e-06

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_YINT -50.558777 SEABIRD_C_G -9.7071199

NAV_MODE 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_H 1.1284475

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 32 SEABIRD_C_I -0.0014307383

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00018278907

HD_A 0.0060000001 ROLL_MIN 200 TCM_ROLL_OFFSET 0

AD7714Ch0Gain 32 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 100 D_SAFE 0 PHONE_SUPPLY 2 SIM_W 0

AH0_24V 150 D_SURF 2 PITCH_ADJ_DBAND 0 SM_CC 200

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 40 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 70 STOP_T 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.00312576 STROBE 0

ALTIM_PING_DELTA 3 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 30 FG_AHR_10V 0 PITCH_GAIN 16.700001 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3775 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FILEMGR 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 20 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0015 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0060000001 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0125 PITCH_W_GAIN 0 T_ABORT 1440

CALL_TRIES 5 HD_C 1e-06 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_WAIT 60 HEADING 215 PRESSURE_YINT -50.558777 T_DIVE 14

CAPMAXSIZE 200000 HEAD_ERRBAND 180 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS 5

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMM_SEQ 0 ID 401 RAFOS_CORR_THRESH 60 T_MISSION 25

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_NO_W 60

COMPASS_DEVICE 33 INT_PRESSURE_YINT -1.1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS_USE 4 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN_SAMPINT 3

C_PITCH 2370 LOGGERDEVICE2 -1 RHO 0.99800003 T_WATCHDOG 10

C_ROLL_CLIMB 2310 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 60

C_ROLL_DIVE 2220 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

C_VBD 1970 LOGGERS 0 ROLL_AD_RATE 350 USE_BATHY 0

DBDW 0 MASS 71182 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3930 VBD_CNV -0.85860002

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE3 -1 MAX_BUOY 100 ROLL_MIN 200 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MAX 4044

DEVICE5 -1 MINV_24V 19 R_PORT_OVSHOOT 80 VBD_MAXERRORS 0

DEVICE6 -1 MISSION 6 R_STBD_OVSHOOT 45 VBD_MIN 53

DIVE 3 MOTHERBOARD 4 SEABIRD_C_G -9.7071199 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NAV_MODE 1 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.0014307383 VBD_TIMEOUT 180

D_CALL 0 N_DIVES 3 SEABIRD_C_J 0.00018278907 W_ADJ_DBAND 0

D_FINISH 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FLARE 2 N_GPS 30945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 3

D_OFFGRID 100 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

Pre-dive calculations and measurements:

GPS1 311016,192629,4741.4692,-12214.5615,5,0.9,27,16.2,0.0,326.3,10,3.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4732.634,-12223.731

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.141147,-0.232118

_SM_DEPTHo 0.70 KALMAN_X 109.879807,58.977425,57.757534,-188.798706,37.372524

_SM_ANGLEo -31.9 KALMAN_Y 185.389633,111.960030,109.873711,-298.277405,78.682999

GPS2 311016,193018,4741.4805,-12214.5557,20,0.9,25,16.2,0.5,336.0,10,3.0 MHEAD_RNG_PITCHd_Wd 195.1,20000,-17.0,-9.524,-19.32,3205

SPEED_LIMITS 0.262,0.272 D_GRID 40

Post-dive calculations and measurements:

FINISH 0.1,0.999279 _24V_AH 25.13,0.824

SM_CCo 1059,0.00,0.000,0,0,1554,357.18 _10V_AH 10.32,1.080

SM_GC 1.30,27.65,0.08,0.00,0.043,0.114,0.000,210,2223,1554,-6.75,2.26,357.18,0,0,0,0,0,0,26.35,26.59,26.47 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12056.72,311016,192656 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.131824 MEM 336392

HUMID 49.40 DATA_FILE_SIZE 6844,195

INTERNAL_PRESSURE 9.55471 CAP_FILE_SIZE 67851,0

TCM_TEMP 21.20 CFSIZE 1024409600,1021116416

XPDR_PINGS 9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

ALTIM_BOTTOM_PING 30.3,6.1 GPS 311016,195006,4741.516,-12214.672,5,0.9,26,16.2,0.3,359.2,10,3.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 58 123 181.18 SBE_CT 132 24 79.74

Roll_motor 0 113 0.64 nil 0 0 0.00

VBD_pump_during_apogee 34 758 654.42 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 29.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 50 13.81

TT8 522 19 106.83

LPSleep 59 2 1.35

TT8_Active 237 19 48.58

TT8_Sampling 316 39 129.99

TT8_CF8 19 45 9.05

TT8_Kalman 31 81 26.61

Analog_circuits 488 12 60.51

GPS_charging 0 0 0.00

Compass 290 15 44.97

RAFOS 0 0 0.00

Transponder 5 30 1.68

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 -1.17 -100.2 210 2192 927 190 0.0 0.0 0 27 0.00 0.00 -7.80 0.000 16390 0.000 0.000 210 2192 2093 2093 319 0 0 0 0 0 0 26.79 25.13 26.82

28 -1.17 -100.2 209 2192 2094 318 0.8 -1.1 2 53 21.62 0.00 0.00 0.000 2054 0.124 0.000 1987 2186 2095 2095 480 0 0 0 0 0 0 26.25 26.43 26.39

66 -1.17 -100.2 1986 2186 2096 477 6.5 -11.7 9 72 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2096 2096 494 0 0 0 0 0 0 26.69 26.70 26.70

85 -1.17 -100.2 1986 2186 2096 492 8.1 -7.7 13 91 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2096 2096 507 0 0 0 0 0 0 26.71 26.73 26.72

104 -1.17 -100.2 1986 2186 2096 504 9.5 -7.1 17 110 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2096 2096 518 0 0 0 0 0 0 26.72 26.74 26.74

123 -1.17 -100.2 1986 2186 2097 516 11.0 -7.6 21 129 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2097 2097 528 0 0 0 0 0 0 26.74 26.76 26.76

142 -1.17 -100.2 1986 2186 2097 526 12.6 -8.6 25 148 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2097 2097 537 0 0 0 0 0 0 26.75 26.77 26.77

161 -1.17 -100.2 1986 2186 2097 535 14.0 -7.0 29 167 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2097 2097 545 0 0 0 0 0 0 26.77 26.79 26.78

180 -1.17 -100.2 1986 2186 2098 543 15.4 -7.4 33 186 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2098 2098 552 0 0 0 0 0 0 26.78 26.79 26.79

199 -1.17 -100.2 1986 2186 2098 550 17.0 -8.3 37 205 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2098 2098 558 0 0 0 0 0 0 26.79 26.80 26.80

219 -1.17 -100.2 1986 2186 2099 556 18.6 -8.1 41 224 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2186 2099 2099 563 0 0 0 0 0 0 26.79 26.82 26.82

238 -1.17 -100.2 1986 2186 2099 561 20.1 -8.0 45 244 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2099 2099 568 0 0 0 0 0 0 26.80 26.82 26.82

257 -1.17 -100.2 1986 2186 2099 566 21.7 -7.9 49 263 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2099 2099 572 0 0 0 0 0 0 26.82 26.84 26.83

276 -1.17 -100.2 1986 2186 2100 570 23.3 -8.2 53 282 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2100 2100 575 0 0 0 0 0 0 26.82 26.84 26.84

295 -1.17 -100.2 1986 2186 2100 573 25.0 -8.6 57 301 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2100 2100 579 0 0 0 0 0 0 26.83 26.85 26.84

314 -1.17 -100.2 1986 2186 2101 576 26.7 -8.6 61 320 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2101 2101 581 0 0 0 0 0 0 26.83 26.85 26.85

333 -1.17 -100.2 1986 2186 2101 580 28.3 -8.3 65 339 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2101 2101 584 0 0 0 0 0 0 26.84 26.86 26.86

352 -1.17 -100.2 1986 2186 2102 582 29.8 -8.1 69 363 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2101 2101 589 0 0 0 0 0 0 26.85 26.87 26.86

376 -1.17 -100.2 1986 2186 2102 587 31.7 -7.7 73 382 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2102 2102 590 0 0 0 0 0 0 26.86 26.87 26.87

395 -1.17 -100.2 1986 2186 2102 588 33.1 -7.3 77 401 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2102 2102 591 0 0 0 0 0 0 26.86 26.88 26.88

414 -1.17 -100.2 1986 2186 2102 589 34.6 -7.5 81 420 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2104 2104 592 0 0 0 0 0 0 26.87 26.89 26.89

433 -1.17 -100.2 1986 2186 2103 591 36.0 -7.2 85 439 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2103 2103 594 0 0 0 0 0 0 26.88 26.90 26.89

453 -1.17 -100.2 1986 2186 2103 591 37.5 -7.5 89 459 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2103 2103 594 0 0 0 0 0 0 26.89 26.90 26.90

473 -1.17 -100.2 1986 2186 2103 592 38.9 -7.5 93 479 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2186 2105 2105 595 0 0 0 0 0 0 26.89 26.91 26.91

487 end dive: TARGET_DEPTH_EXCEEDED

state 487 begin apogee

491 -0.30 0.0 1986 2315 2104 595 40.2 -7.5 96 504 3.03 0.00 7.62 0.758 10246 0.083 0.000 2265 2315 1967 1967 4095 0 0 0 0 0 0 26.48 26.26 25.44

505 end apogee: CONTROL_FINISHED_OK

state 505 begin climb

507 1.17 100.2 2266 2315 1968 866 41.1 0.0 98 525 4.82 0.00 6.95 0.729 10246 0.060 0.000 2722 2315 1850 1850 4095 0 0 0 0 0 0 26.41 25.91 25.35

538 1.30 188.2 2722 2315 1849 825 39.9 6.8 104 551 0.40 0.00 6.25 0.686 10246 0.055 0.000 2764 2315 1747 1747 4095 0 0 0 0 0 0 26.36 25.86 25.32

564 1.43 278.2 2763 2315 1746 825 38.3 6.7 109 577 0.40 0.00 6.45 0.682 10246 0.057 0.000 2806 2315 1642 1642 4095 0 0 0 0 0 0 26.30 25.81 25.27

591 1.48 311.1 2806 2315 1642 825 36.2 8.5 114 598 0.10 0.00 3.50 0.421 10246 0.088 0.000 2822 2315 1605 1605 4095 0 0 0 0 0 0 26.28 26.04 25.29

611 1.48 311.1 2821 2315 1605 824 34.3 9.5 118 617 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1605 1605 787 0 0 0 0 0 0 26.54 26.55 26.55

630 1.48 311.1 2821 2315 1605 785 32.3 10.5 122 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1604 1604 750 0 0 0 0 0 0 26.57 26.58 26.58

649 1.48 311.1 2821 2315 1604 750 30.3 11.0 126 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1604 1604 720 0 0 0 0 0 0 26.60 26.62 26.61

667 1.48 311.1 2822 2315 1603 720 28.3 10.7 130 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1603 1603 693 0 0 0 0 0 0 26.62 26.63 26.63

686 1.48 311.1 2821 2315 1603 693 26.3 10.8 134 692 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1603 1603 669 0 0 0 0 0 0 26.64 26.65 26.65

705 1.48 311.1 2821 2315 1602 670 24.3 10.9 138 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1602 1602 649 0 0 0 0 0 0 26.65 26.67 26.67

724 1.48 311.1 2821 2314 1602 649 22.5 9.7 142 729 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1602 1602 630 0 0 0 0 0 0 26.67 26.70 26.68

742 1.49 316.4 2821 2314 1602 630 20.7 9.4 146 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1601 1601 614 0 0 0 0 0 0 26.69 26.70 26.70

761 1.49 316.4 2821 2314 1601 614 18.9 10.0 150 767 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2315 1601 1601 599 0 0 0 0 0 0 26.70 26.72 26.71

780 1.49 316.4 2821 2315 1601 599 16.9 10.7 154 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1601 1601 586 0 0 0 0 0 0 26.71 26.73 26.72

799 1.49 316.4 2821 2315 1600 586 14.9 11.0 158 804 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1600 1600 575 0 0 0 0 0 0 26.72 26.74 26.74

817 1.49 316.4 2821 2315 1599 575 12.9 10.2 162 823 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1599 1599 565 0 0 0 0 0 0 26.74 26.75 26.75

836 1.49 316.4 2822 2315 1599 565 10.9 10.8 166 842 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1599 1599 556 0 0 0 0 0 0 26.74 26.77 26.76

855 1.49 316.4 2821 2314 1598 556 9.2 10.0 170 861 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2315 1598 1598 549 0 0 0 0 0 0 26.75 26.77 26.77

874 1.54 351.7 2821 2315 1598 548 7.5 8.4 174 881 0.15 0.00 3.58 0.304 10246 0.073 0.000 2843 2316 1557 1557 4095 0 0 0 0 0 0 26.48 26.29 25.71

894 1.54 351.7 2842 2314 1556 826 5.5 9.8 178 900 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2315 1556 1556 786 0 0 0 0 0 0 26.75 26.77 26.76

913 1.54 351.7 2842 2315 1556 782 3.6 10.3 182 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2315 1555 1555 746 0 0 0 0 0 0 26.77 26.78 26.78

931 end climb: SURFACE_DEPTH_REACHED

state 931 begin surface coast

965 end surface coast: CONTROL_FINISHED_OK

state 965 begin surface

ID	401	HD_B	0.0125	ROLL_MAX	3930	COMPASS_USE	4
MISSION	6	HD_C	1e-06	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
DIVE	3	HEADING	215	C_ROLL_DIVE	2220	ALTIM_TOP_PING_RANGE	0
N_DIVES	3	ESCAPE_HEADING	0	C_ROLL_CLIMB	2310	ALTIM_BOTTOM_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	30
D_TGT	40	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	80	ALTIM_PING_DELTA	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	45	ALTIM_FREQUENCY	13
D_NO_BLEED	500	SM_CC	200	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	1
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	53	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	1	VBD_MAX	4044	INT_PRESSURE_YINT	-1.1
D_CALL	0	N_NOCOMM	1	C_VBD	1970	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE2	-1
T_DIVE	14	CALL_TRIES	5	VBD_TIMEOUT	180	DEVICE3	-1
T_MISSION	25	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	3	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	30945	VBD_MAXERRORS	0	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_BATHY	0	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3775	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2370	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	100	PITCH_DBAND	0.1	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	20	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0044078007
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_10V	0	SEABIRD_T_H	0.00063626393
RHO	0.99800003	PITCH_GAIN	16.700001	FG_AHR_24V	0	SEABIRD_T_I	2.4955199e-05
MASS	71182	PITCH_TIMEOUT	50	PHONE_SUPPLY	2	SEABIRD_T_J	2.9785231e-06
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_YINT	-50.558777	SEABIRD_C_G	-9.7071199
NAV_MODE	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_H	1.1284475
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	32	SEABIRD_C_I	-0.0014307383
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00018278907
HD_A	0.0060000001	ROLL_MIN	200	TCM_ROLL_OFFSET	0

GPS1	311016,192629,4741.4692,-12214.5615,5,0.9,27,16.2,0.0,326.3,10,3.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4732.634,-12223.731
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.141147,-0.232118
_SM_DEPTHo	0.70	KALMAN_X	109.879807,58.977425,57.757534,-188.798706,37.372524
_SM_ANGLEo	-31.9	KALMAN_Y	185.389633,111.960030,109.873711,-298.277405,78.682999
GPS2	311016,193018,4741.4805,-12214.5557,20,0.9,25,16.2,0.5,336.0,10,3.0	MHEAD_RNG_PITCHd_Wd	195.1,20000,-17.0,-9.524,-19.32,3205
SPEED_LIMITS	0.262,0.272	D_GRID	40

FINISH	0.1,0.999279	_24V_AH	25.13,0.824
SM_CCo	1059,0.00,0.000,0,0,1554,357.18	_10V_AH	10.32,1.080
SM_GC	1.30,27.65,0.08,0.00,0.043,0.114,0.000,210,2223,1554,-6.75,2.26,357.18,0,0,0,0,0,0,26.35,26.59,26.47	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12056.72,311016,192656	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.131824	MEM	336392
HUMID	49.40	DATA_FILE_SIZE	6844,195
INTERNAL_PRESSURE	9.55471	CAP_FILE_SIZE	67851,0
TCM_TEMP	21.20	CFSIZE	1024409600,1021116416
XPDR_PINGS	9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
ALTIM_BOTTOM_PING	30.3,6.1	GPS	311016,195006,4741.516,-12214.672,5,0.9,26,16.2,0.3,359.2,10,3.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	58	123	181.18	SBE_CT	132	24	79.74
Roll_motor	0	113	0.64	nil	0	0	0.00
VBD_pump_during_apogee	34	758	654.42	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	29.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	50	13.81
TT8	522	19	106.83
LPSleep	59	2	1.35
TT8_Active	237	19	48.58
TT8_Sampling	316	39	129.99
TT8_CF8	19	45	9.05
TT8_Kalman	31	81	26.61
Analog_circuits	488	12	60.51
GPS_charging	0	0	0.00
Compass	290	15	44.97
RAFOS	0	0	0.00
Transponder	5	30	1.68

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	-1.17	-100.2	210	2192	927	190	0.0	0.0	0	27	0.00	0.00	-7.80	0.000	16390	0.000	0.000	210	2192	2093	2093	319	0	0	0	0	0	0	26.79	25.13	26.82
28	-1.17	-100.2	209	2192	2094	318	0.8	-1.1	2	53	21.62	0.00	0.00	0.000	2054	0.124	0.000	1987	2186	2095	2095	480	0	0	0	0	0	0	26.25	26.43	26.39
66	-1.17	-100.2	1986	2186	2096	477	6.5	-11.7	9	72	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2096	2096	494	0	0	0	0	0	0	26.69	26.70	26.70
85	-1.17	-100.2	1986	2186	2096	492	8.1	-7.7	13	91	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2096	2096	507	0	0	0	0	0	0	26.71	26.73	26.72
104	-1.17	-100.2	1986	2186	2096	504	9.5	-7.1	17	110	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2096	2096	518	0	0	0	0	0	0	26.72	26.74	26.74
123	-1.17	-100.2	1986	2186	2097	516	11.0	-7.6	21	129	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2097	2097	528	0	0	0	0	0	0	26.74	26.76	26.76
142	-1.17	-100.2	1986	2186	2097	526	12.6	-8.6	25	148	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2097	2097	537	0	0	0	0	0	0	26.75	26.77	26.77
161	-1.17	-100.2	1986	2186	2097	535	14.0	-7.0	29	167	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2097	2097	545	0	0	0	0	0	0	26.77	26.79	26.78
180	-1.17	-100.2	1986	2186	2098	543	15.4	-7.4	33	186	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2098	2098	552	0	0	0	0	0	0	26.78	26.79	26.79
199	-1.17	-100.2	1986	2186	2098	550	17.0	-8.3	37	205	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2098	2098	558	0	0	0	0	0	0	26.79	26.80	26.80
219	-1.17	-100.2	1986	2186	2099	556	18.6	-8.1	41	224	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2186	2099	2099	563	0	0	0	0	0	0	26.79	26.82	26.82
238	-1.17	-100.2	1986	2186	2099	561	20.1	-8.0	45	244	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2099	2099	568	0	0	0	0	0	0	26.80	26.82	26.82
257	-1.17	-100.2	1986	2186	2099	566	21.7	-7.9	49	263	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2099	2099	572	0	0	0	0	0	0	26.82	26.84	26.83
276	-1.17	-100.2	1986	2186	2100	570	23.3	-8.2	53	282	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2100	2100	575	0	0	0	0	0	0	26.82	26.84	26.84
295	-1.17	-100.2	1986	2186	2100	573	25.0	-8.6	57	301	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2100	2100	579	0	0	0	0	0	0	26.83	26.85	26.84
314	-1.17	-100.2	1986	2186	2101	576	26.7	-8.6	61	320	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2101	2101	581	0	0	0	0	0	0	26.83	26.85	26.85
333	-1.17	-100.2	1986	2186	2101	580	28.3	-8.3	65	339	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2101	2101	584	0	0	0	0	0	0	26.84	26.86	26.86
352	-1.17	-100.2	1986	2186	2102	582	29.8	-8.1	69	363	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2101	2101	589	0	0	0	0	0	0	26.85	26.87	26.86
376	-1.17	-100.2	1986	2186	2102	587	31.7	-7.7	73	382	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2102	2102	590	0	0	0	0	0	0	26.86	26.87	26.87
395	-1.17	-100.2	1986	2186	2102	588	33.1	-7.3	77	401	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2102	2102	591	0	0	0	0	0	0	26.86	26.88	26.88
414	-1.17	-100.2	1986	2186	2102	589	34.6	-7.5	81	420	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2104	2104	592	0	0	0	0	0	0	26.87	26.89	26.89
433	-1.17	-100.2	1986	2186	2103	591	36.0	-7.2	85	439	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2103	2103	594	0	0	0	0	0	0	26.88	26.90	26.89
453	-1.17	-100.2	1986	2186	2103	591	37.5	-7.5	89	459	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2103	2103	594	0	0	0	0	0	0	26.89	26.90	26.90
473	-1.17	-100.2	1986	2186	2103	592	38.9	-7.5	93	479	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2186	2105	2105	595	0	0	0	0	0	0	26.89	26.91	26.91
487	end dive: TARGET_DEPTH_EXCEEDED
state	487	begin apogee
491	-0.30	0.0	1986	2315	2104	595	40.2	-7.5	96	504	3.03	0.00	7.62	0.758	10246	0.083	0.000	2265	2315	1967	1967	4095	0	0	0	0	0	0	26.48	26.26	25.44
505	end apogee: CONTROL_FINISHED_OK
state	505	begin climb
507	1.17	100.2	2266	2315	1968	866	41.1	0.0	98	525	4.82	0.00	6.95	0.729	10246	0.060	0.000	2722	2315	1850	1850	4095	0	0	0	0	0	0	26.41	25.91	25.35
538	1.30	188.2	2722	2315	1849	825	39.9	6.8	104	551	0.40	0.00	6.25	0.686	10246	0.055	0.000	2764	2315	1747	1747	4095	0	0	0	0	0	0	26.36	25.86	25.32
564	1.43	278.2	2763	2315	1746	825	38.3	6.7	109	577	0.40	0.00	6.45	0.682	10246	0.057	0.000	2806	2315	1642	1642	4095	0	0	0	0	0	0	26.30	25.81	25.27
591	1.48	311.1	2806	2315	1642	825	36.2	8.5	114	598	0.10	0.00	3.50	0.421	10246	0.088	0.000	2822	2315	1605	1605	4095	0	0	0	0	0	0	26.28	26.04	25.29
611	1.48	311.1	2821	2315	1605	824	34.3	9.5	118	617	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1605	1605	787	0	0	0	0	0	0	26.54	26.55	26.55
630	1.48	311.1	2821	2315	1605	785	32.3	10.5	122	636	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1604	1604	750	0	0	0	0	0	0	26.57	26.58	26.58
649	1.48	311.1	2821	2315	1604	750	30.3	11.0	126	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1604	1604	720	0	0	0	0	0	0	26.60	26.62	26.61
667	1.48	311.1	2822	2315	1603	720	28.3	10.7	130	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1603	1603	693	0	0	0	0	0	0	26.62	26.63	26.63
686	1.48	311.1	2821	2315	1603	693	26.3	10.8	134	692	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1603	1603	669	0	0	0	0	0	0	26.64	26.65	26.65
705	1.48	311.1	2821	2315	1602	670	24.3	10.9	138	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1602	1602	649	0	0	0	0	0	0	26.65	26.67	26.67
724	1.48	311.1	2821	2314	1602	649	22.5	9.7	142	729	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1602	1602	630	0	0	0	0	0	0	26.67	26.70	26.68
742	1.49	316.4	2821	2314	1602	630	20.7	9.4	146	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1601	1601	614	0	0	0	0	0	0	26.69	26.70	26.70
761	1.49	316.4	2821	2314	1601	614	18.9	10.0	150	767	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	2315	1601	1601	599	0	0	0	0	0	0	26.70	26.72	26.71
780	1.49	316.4	2821	2315	1601	599	16.9	10.7	154	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1601	1601	586	0	0	0	0	0	0	26.71	26.73	26.72
799	1.49	316.4	2821	2315	1600	586	14.9	11.0	158	804	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1600	1600	575	0	0	0	0	0	0	26.72	26.74	26.74
817	1.49	316.4	2821	2315	1599	575	12.9	10.2	162	823	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1599	1599	565	0	0	0	0	0	0	26.74	26.75	26.75
836	1.49	316.4	2822	2315	1599	565	10.9	10.8	166	842	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1599	1599	556	0	0	0	0	0	0	26.74	26.77	26.76
855	1.49	316.4	2821	2314	1598	556	9.2	10.0	170	861	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2315	1598	1598	549	0	0	0	0	0	0	26.75	26.77	26.77
874	1.54	351.7	2821	2315	1598	548	7.5	8.4	174	881	0.15	0.00	3.58	0.304	10246	0.073	0.000	2843	2316	1557	1557	4095	0	0	0	0	0	0	26.48	26.29	25.71
894	1.54	351.7	2842	2314	1556	826	5.5	9.8	178	900	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2315	1556	1556	786	0	0	0	0	0	0	26.75	26.77	26.76
913	1.54	351.7	2842	2315	1556	782	3.6	10.3	182	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2315	1555	1555	746	0	0	0	0	0	0	26.77	26.78	26.78
931	end climb: SURFACE_DEPTH_REACHED
state	931	begin surface coast
965	end surface coast: CONTROL_FINISHED_OK
state	965	begin surface