Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 10 * 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 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2190 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 35 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 1 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 -1503.6536 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 145 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 MINV_24V 19 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3948 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3370 FG_AHR_10V 0 SEABIRD_T_G 0.0043827128

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062866701

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5612169e-05

RHO 1.0237 P_OVSHOOT 0.079999998 PRESSURE_YINT -49.106464 SEABIRD_T_J 3.209283e-06

MASS 51614 PITCH_GAIN 38 PRESSURE_SLOPE 0.0001161203 SEABIRD_C_G -9.733285

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1253656

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011628612

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016996283

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 232 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 95 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 145 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT 4743

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223.5

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 180

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 20 T_DIVE 86

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001161203 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -49.106464 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.079999998 T_GPS_CHARGE -1503.6536

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 601 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT -0.25799999 RHO 1.0237 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3370 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2190 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 35 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 10 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 150114,024229,4744.150,-12224.894,39,1.4,39,16.6 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.051,-0.201

_SM_DEPTHo 1.33 KALMAN_X -1417.9,-356.5,345.8,1249.6,-268.1

_SM_ANGLEo -81.0 KALMAN_Y 951.2,-2048.6,-164.8,3873.6,1260.4

GPS2 150114,025016,4744.217,-12224.836,4,1.2,5,16.6 MHEAD_RNG_PITCHd_Wd 179.3,2809,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.6,1.022535 _10V_AH 10.5,0.325

SM_CCo 3201,57.85,0.057,0,0,1835,250.21 FG_AHR_24Vo 0.000

SM_GC 1.47,8.80,0.05,57.85,0.044,0.160,0.057,204,2253,1835,-9.82,-1.19,250.21,0,0,0,0,0,0,26.43,26.51,26.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,010106 MEM 323728

TT8_MAMPS 0.02996,0.02996 DATA_FILE_SIZE 16768,455

HUMID 42.43 CAP_FILE_SIZE 75009,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091515904

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 0.218, 16.2,1

ALTIM_BOTTOM_PING 116.0,7.1 GPS 150114,034635,4744.222,-12224.876,25,1.1,25,16.6

_24V_AH 24.3,0.811

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 240 128.97 SBE_CT 304 24 177.56

Roll_motor 56 159 220.68 nil 0 0 0.00

VBD_pump_during_apogee 178 730 3164.02 nil 0 0 0.00

VBD_pump_during_surface 57 56 79.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.79 nil 0 0 0.00

Iridium_during_connect 33 160 131.94 nil 0 0 0.00

Iridium_during_xfer 333 223 1804.96 nil 0 0 0.00

Transponder_ping 2 420 25.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.68

TT8 1140 14 179.18

LPSleep 1006 2 23.15

TT8_Active 398 14 59.50

TT8_Sampling 1158 37 455.45

TT8_CF8 41 47 20.57

TT8_Kalman 33 59 20.62

Analog_circuits 860 12 108.38

GPS_charging 0 0 0.00

Compass 738 15 121.98

RAFOS 0 0 0.00

Transponder 20 30 6.32

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.51 -117.2 202 2260 1851 1785 0.0 0.0 0 72 0.00 0.00 -55.15 0.000 16386 0.000 0.000 202 2259 3200 3115 3285 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.51 -117.2 202 2260 3116 3285 3.2 -7.7 10 99 11.85 2.28 -3.30 0.000 18692 0.241 0.074 3168 3646 3336 3264 3409 0 0 0 0 0 0 25.72 25.94 26.22

275 -0.51 -117.2 3168 3646 3266 3409 32.6 -14.3 49 284 0.10 2.15 0.00 0.000 3078 0.181 0.041 3190 2260 3337 3266 3408 0 0 0 0 0 0 26.01 26.14 28.83

315 -0.51 -117.2 3189 2260 3268 3408 38.0 -13.2 56 321 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2259 3338 3268 3408 0 0 0 0 0 0 28.83 28.83 28.83

351 -0.51 -117.2 2216 2257 3256 3406 42.8 -13.1 63 357 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2260 3338 3268 3408 0 0 0 0 0 0 28.83 28.83 28.83

389 -0.51 -117.2 3190 2260 3268 3408 47.8 -13.5 70 395 0.00 2.22 0.00 0.000 260 0.000 0.057 3181 3656 3338 3268 3408 0 0 0 0 0 0 28.83 26.17 28.83

486 -0.51 -117.2 3181 3656 3269 3408 60.7 -12.8 89 494 0.00 2.17 0.00 0.000 1030 0.000 0.038 3181 2243 3338 3269 3408 0 0 0 0 0 0 28.83 26.26 28.83

557 -0.51 -117.2 3181 2243 3269 3408 68.9 -12.2 102 563 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2243 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

623 -0.51 -117.2 2208 2241 3257 3406 77.2 -12.3 115 629 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2243 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

690 -0.51 -117.2 3181 2243 3268 3408 84.4 -10.4 128 699 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2243 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

761 -0.51 -117.2 3181 2243 3269 3408 91.8 -10.5 141 767 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2243 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

829 -0.51 -117.2 3181 2243 3269 3407 99.2 -10.5 154 835 0.00 2.12 0.00 0.000 516 0.000 0.048 3181 832 3338 3269 3408 0 0 0 0 0 0 28.83 26.35 28.83

895 -0.51 -117.2 3181 832 3269 3408 106.9 -12.1 161 904 0.05 2.22 0.00 0.000 3078 0.183 0.045 3187 2247 3338 3269 3408 0 0 0 0 0 0 26.25 26.38 28.83

1023 -0.51 -117.2 3186 2248 3269 3408 121.3 -10.8 174 1031 0.00 2.17 0.00 0.000 516 0.000 0.049 3186 828 3338 3269 3408 0 0 0 0 0 0 28.83 26.39 28.83

1072 -0.51 -117.2 3187 828 3269 3408 127.3 -11.9 179 1076 0.00 2.17 0.00 0.000 1030 0.000 0.044 3178 2250 3338 3268 3408 0 0 0 0 0 0 28.83 26.41 28.83

1198 -0.51 -117.2 3178 2250 3269 3408 143.1 -12.8 191 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 2250 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

1318 -0.51 -117.2 3178 2250 3269 3407 157.2 -10.7 203 1322 0.00 2.17 0.00 0.000 260 0.000 0.054 3168 3665 3338 3269 3408 0 0 0 0 0 0 28.83 26.44 28.83

1502 end dive: TARGET_DEPTH_EXCEEDED

state 1502 begin apogee

1508 -0.13 0.0 3167 2181 3270 3407 180.2 -11.7 221 1604 0.45 0.00 87.18 0.731 10246 0.157 0.000 3306 2181 2857 2827 2887 0 0 0 0 0 0 26.36 28.83 24.79

1604 end apogee: CONTROL_FINISHED_OK

state 1605 begin climb

1606 0.51 117.2 3306 2181 2827 2887 183.7 0.0 231 1704 0.68 0.00 91.05 0.703 10246 0.122 0.000 3515 2171 2380 2416 2345 0 0 0 0 0 0 25.28 28.83 24.34

1823 0.51 117.2 3515 2172 2414 2341 164.1 10.7 253 1824 0.00 0.00 0.00 0.000 6 0.000 0.000 3516 2172 2377 2414 2341 0 0 0 0 0 0 28.83 28.83 28.83

1943 0.51 117.2 3515 2171 2412 2340 152.3 9.7 265 1947 0.00 2.28 0.00 0.000 260 0.000 0.053 3515 3593 2376 2412 2340 0 0 0 0 0 0 28.83 25.79 28.83

1982 0.51 117.2 3515 3593 2409 2339 148.8 9.5 268 1989 0.00 2.22 0.00 0.000 1030 0.000 0.037 3524 2196 2374 2409 2340 0 0 0 0 0 0 28.83 25.87 28.83

2109 0.51 117.2 3523 2196 2409 2340 135.7 9.0 281 2113 0.00 2.17 0.00 0.000 516 0.000 0.050 3532 780 2374 2409 2339 0 0 0 0 0 0 28.83 25.98 28.83

2134 0.51 117.2 3532 779 2409 2340 133.2 9.2 283 2138 0.00 2.17 0.00 0.000 1030 0.000 0.037 3532 2194 2374 2409 2340 0 0 0 0 0 0 28.83 26.03 28.83

2259 0.51 117.2 3532 2195 2409 2339 118.5 12.9 295 2263 0.00 2.20 0.00 0.000 516 0.000 0.049 3542 777 2374 2409 2339 0 0 0 0 0 0 28.83 26.11 28.83

2308 0.51 117.2 3542 776 2409 2339 112.8 12.4 299 2315 0.00 2.20 0.00 0.000 1030 0.000 0.037 3542 2185 2374 2410 2339 0 0 0 0 0 0 28.83 26.16 28.83

2435 0.51 117.2 3542 2186 2409 2338 96.6 12.5 314 2442 0.00 2.17 0.00 0.000 516 0.000 0.047 3550 772 2374 2410 2339 0 0 0 0 0 0 28.83 26.21 28.83

2473 0.51 117.2 3549 772 2409 2339 91.7 13.2 321 2481 0.00 2.17 0.00 0.000 1030 0.000 0.037 3550 2199 2374 2409 2339 0 0 0 0 0 0 28.83 26.24 28.83

2543 0.51 117.2 3550 2200 2410 2339 82.5 13.4 334 2549 0.00 2.15 0.00 0.000 260 0.000 0.052 3550 3590 2374 2409 2339 0 0 0 0 0 0 28.83 26.24 28.83

2570 0.51 117.2 2768 3589 2373 2333 78.8 14.1 339 2576 0.00 2.15 0.00 0.000 1030 0.000 0.037 3559 2183 2372 2407 2338 0 0 0 0 0 0 28.83 26.27 28.83

2638 0.51 117.2 3559 2181 2407 2339 69.8 13.4 352 2644 0.00 2.12 0.00 0.000 516 0.000 0.047 3569 772 2373 2407 2339 0 0 0 0 0 0 28.83 26.27 28.83

2666 0.51 117.2 3569 772 2408 2339 65.9 14.0 357 2674 0.10 2.15 0.00 0.000 5126 0.174 0.035 3545 2193 2373 2408 2339 0 0 0 0 0 0 26.20 26.31 28.83

2737 0.51 117.2 3545 2194 2408 2338 57.4 10.6 370 2743 0.00 2.15 0.00 0.000 260 0.000 0.048 3545 3598 2373 2408 2338 0 0 0 0 0 0 28.83 26.30 28.83

2789 0.51 117.2 3545 3598 2406 2338 50.4 14.2 380 2796 0.00 2.15 0.00 0.000 1030 0.000 0.035 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 26.34 28.83

2858 0.51 117.2 3553 2177 2406 2338 40.9 14.7 393 2864 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

2895 0.51 117.2 3553 2177 2406 2338 35.4 13.5 400 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

2932 0.51 117.2 2752 2175 2373 2333 31.0 11.9 407 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

2969 0.51 117.2 3553 2177 2407 2338 26.5 11.7 414 2975 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

3006 0.51 117.2 3553 2177 2406 2338 22.1 11.9 421 3013 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

3044 0.51 117.2 3553 2177 2406 2338 17.2 13.0 428 3050 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2177 2372 2406 2338 0 0 0 0 0 0 28.83 28.83 28.83

3080 0.51 117.2 2752 2175 2373 2333 12.7 12.2 435 3087 0.00 2.10 0.00 0.000 516 0.000 0.047 3563 775 2372 2407 2338 0 0 0 0 0 0 28.83 26.39 28.83

3148 0.51 117.2 3563 775 2408 2338 4.9 11.7 448 3155 0.00 2.15 0.00 0.000 1030 0.000 0.037 3563 2201 2373 2408 2338 0 0 0 0 0 0 28.83 26.43 28.83

3165 end climb: SURFACE_DEPTH_REACHED

state 3165 begin surface coast

3186 end surface coast: CONTROL_FINISHED_OK

state 3186 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	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2190	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	35	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	1	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	-1503.6536	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	145	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	MINV_24V	19	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3948	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3370	FG_AHR_10V	0	SEABIRD_T_G	0.0043827128
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062866701
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5612169e-05
RHO	1.0237	P_OVSHOOT	0.079999998	PRESSURE_YINT	-49.106464	SEABIRD_T_J	3.209283e-06
MASS	51614	PITCH_GAIN	38	PRESSURE_SLOPE	0.0001161203	SEABIRD_C_G	-9.733285
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1253656
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011628612
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016996283
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	232	ALTIM_TOP_PING_RANGE	0

GPS1	150114,024229,4744.150,-12224.894,39,1.4,39,16.6	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.051,-0.201
_SM_DEPTHo	1.33	KALMAN_X	-1417.9,-356.5,345.8,1249.6,-268.1
_SM_ANGLEo	-81.0	KALMAN_Y	951.2,-2048.6,-164.8,3873.6,1260.4
GPS2	150114,025016,4744.217,-12224.836,4,1.2,5,16.6	MHEAD_RNG_PITCHd_Wd	179.3,2809,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.6,1.022535	_10V_AH	10.5,0.325
SM_CCo	3201,57.85,0.057,0,0,1835,250.21	FG_AHR_24Vo	0.000
SM_GC	1.47,8.80,0.05,57.85,0.044,0.160,0.057,204,2253,1835,-9.82,-1.19,250.21,0,0,0,0,0,0,26.43,26.51,26.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,010106	MEM	323728
TT8_MAMPS	0.02996,0.02996	DATA_FILE_SIZE	16768,455
HUMID	42.43	CAP_FILE_SIZE	75009,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091515904
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	0.218, 16.2,1
ALTIM_BOTTOM_PING	116.0,7.1	GPS	150114,034635,4744.222,-12224.876,25,1.1,25,16.6
_24V_AH	24.3,0.811

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	240	128.97	SBE_CT	304	24	177.56
Roll_motor	56	159	220.68	nil	0	0	0.00
VBD_pump_during_apogee	178	730	3164.02	nil	0	0	0.00
VBD_pump_during_surface	57	56	79.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.79	nil	0	0	0.00
Iridium_during_connect	33	160	131.94	nil	0	0	0.00
Iridium_during_xfer	333	223	1804.96	nil	0	0	0.00
Transponder_ping	2	420	25.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.68
TT8	1140	14	179.18
LPSleep	1006	2	23.15
TT8_Active	398	14	59.50
TT8_Sampling	1158	37	455.45
TT8_CF8	41	47	20.57
TT8_Kalman	33	59	20.62
Analog_circuits	860	12	108.38
GPS_charging	0	0	0.00
Compass	738	15	121.98
RAFOS	0	0	0.00
Transponder	20	30	6.32

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.51	-117.2	202	2260	1851	1785	0.0	0.0	0	72	0.00	0.00	-55.15	0.000	16386	0.000	0.000	202	2259	3200	3115	3285	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.51	-117.2	202	2260	3116	3285	3.2	-7.7	10	99	11.85	2.28	-3.30	0.000	18692	0.241	0.074	3168	3646	3336	3264	3409	0	0	0	0	0	0	25.72	25.94	26.22
275	-0.51	-117.2	3168	3646	3266	3409	32.6	-14.3	49	284	0.10	2.15	0.00	0.000	3078	0.181	0.041	3190	2260	3337	3266	3408	0	0	0	0	0	0	26.01	26.14	28.83
315	-0.51	-117.2	3189	2260	3268	3408	38.0	-13.2	56	321	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2259	3338	3268	3408	0	0	0	0	0	0	28.83	28.83	28.83
351	-0.51	-117.2	2216	2257	3256	3406	42.8	-13.1	63	357	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2260	3338	3268	3408	0	0	0	0	0	0	28.83	28.83	28.83
389	-0.51	-117.2	3190	2260	3268	3408	47.8	-13.5	70	395	0.00	2.22	0.00	0.000	260	0.000	0.057	3181	3656	3338	3268	3408	0	0	0	0	0	0	28.83	26.17	28.83
486	-0.51	-117.2	3181	3656	3269	3408	60.7	-12.8	89	494	0.00	2.17	0.00	0.000	1030	0.000	0.038	3181	2243	3338	3269	3408	0	0	0	0	0	0	28.83	26.26	28.83
557	-0.51	-117.2	3181	2243	3269	3408	68.9	-12.2	102	563	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2243	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
623	-0.51	-117.2	2208	2241	3257	3406	77.2	-12.3	115	629	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2243	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
690	-0.51	-117.2	3181	2243	3268	3408	84.4	-10.4	128	699	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2243	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
761	-0.51	-117.2	3181	2243	3269	3408	91.8	-10.5	141	767	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2243	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
829	-0.51	-117.2	3181	2243	3269	3407	99.2	-10.5	154	835	0.00	2.12	0.00	0.000	516	0.000	0.048	3181	832	3338	3269	3408	0	0	0	0	0	0	28.83	26.35	28.83
895	-0.51	-117.2	3181	832	3269	3408	106.9	-12.1	161	904	0.05	2.22	0.00	0.000	3078	0.183	0.045	3187	2247	3338	3269	3408	0	0	0	0	0	0	26.25	26.38	28.83
1023	-0.51	-117.2	3186	2248	3269	3408	121.3	-10.8	174	1031	0.00	2.17	0.00	0.000	516	0.000	0.049	3186	828	3338	3269	3408	0	0	0	0	0	0	28.83	26.39	28.83
1072	-0.51	-117.2	3187	828	3269	3408	127.3	-11.9	179	1076	0.00	2.17	0.00	0.000	1030	0.000	0.044	3178	2250	3338	3268	3408	0	0	0	0	0	0	28.83	26.41	28.83
1198	-0.51	-117.2	3178	2250	3269	3408	143.1	-12.8	191	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	2250	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
1318	-0.51	-117.2	3178	2250	3269	3407	157.2	-10.7	203	1322	0.00	2.17	0.00	0.000	260	0.000	0.054	3168	3665	3338	3269	3408	0	0	0	0	0	0	28.83	26.44	28.83
1502	end dive: TARGET_DEPTH_EXCEEDED
state	1502	begin apogee
1508	-0.13	0.0	3167	2181	3270	3407	180.2	-11.7	221	1604	0.45	0.00	87.18	0.731	10246	0.157	0.000	3306	2181	2857	2827	2887	0	0	0	0	0	0	26.36	28.83	24.79
1604	end apogee: CONTROL_FINISHED_OK
state	1605	begin climb
1606	0.51	117.2	3306	2181	2827	2887	183.7	0.0	231	1704	0.68	0.00	91.05	0.703	10246	0.122	0.000	3515	2171	2380	2416	2345	0	0	0	0	0	0	25.28	28.83	24.34
1823	0.51	117.2	3515	2172	2414	2341	164.1	10.7	253	1824	0.00	0.00	0.00	0.000	6	0.000	0.000	3516	2172	2377	2414	2341	0	0	0	0	0	0	28.83	28.83	28.83
1943	0.51	117.2	3515	2171	2412	2340	152.3	9.7	265	1947	0.00	2.28	0.00	0.000	260	0.000	0.053	3515	3593	2376	2412	2340	0	0	0	0	0	0	28.83	25.79	28.83
1982	0.51	117.2	3515	3593	2409	2339	148.8	9.5	268	1989	0.00	2.22	0.00	0.000	1030	0.000	0.037	3524	2196	2374	2409	2340	0	0	0	0	0	0	28.83	25.87	28.83
2109	0.51	117.2	3523	2196	2409	2340	135.7	9.0	281	2113	0.00	2.17	0.00	0.000	516	0.000	0.050	3532	780	2374	2409	2339	0	0	0	0	0	0	28.83	25.98	28.83
2134	0.51	117.2	3532	779	2409	2340	133.2	9.2	283	2138	0.00	2.17	0.00	0.000	1030	0.000	0.037	3532	2194	2374	2409	2340	0	0	0	0	0	0	28.83	26.03	28.83
2259	0.51	117.2	3532	2195	2409	2339	118.5	12.9	295	2263	0.00	2.20	0.00	0.000	516	0.000	0.049	3542	777	2374	2409	2339	0	0	0	0	0	0	28.83	26.11	28.83
2308	0.51	117.2	3542	776	2409	2339	112.8	12.4	299	2315	0.00	2.20	0.00	0.000	1030	0.000	0.037	3542	2185	2374	2410	2339	0	0	0	0	0	0	28.83	26.16	28.83
2435	0.51	117.2	3542	2186	2409	2338	96.6	12.5	314	2442	0.00	2.17	0.00	0.000	516	0.000	0.047	3550	772	2374	2410	2339	0	0	0	0	0	0	28.83	26.21	28.83
2473	0.51	117.2	3549	772	2409	2339	91.7	13.2	321	2481	0.00	2.17	0.00	0.000	1030	0.000	0.037	3550	2199	2374	2409	2339	0	0	0	0	0	0	28.83	26.24	28.83
2543	0.51	117.2	3550	2200	2410	2339	82.5	13.4	334	2549	0.00	2.15	0.00	0.000	260	0.000	0.052	3550	3590	2374	2409	2339	0	0	0	0	0	0	28.83	26.24	28.83
2570	0.51	117.2	2768	3589	2373	2333	78.8	14.1	339	2576	0.00	2.15	0.00	0.000	1030	0.000	0.037	3559	2183	2372	2407	2338	0	0	0	0	0	0	28.83	26.27	28.83
2638	0.51	117.2	3559	2181	2407	2339	69.8	13.4	352	2644	0.00	2.12	0.00	0.000	516	0.000	0.047	3569	772	2373	2407	2339	0	0	0	0	0	0	28.83	26.27	28.83
2666	0.51	117.2	3569	772	2408	2339	65.9	14.0	357	2674	0.10	2.15	0.00	0.000	5126	0.174	0.035	3545	2193	2373	2408	2339	0	0	0	0	0	0	26.20	26.31	28.83
2737	0.51	117.2	3545	2194	2408	2338	57.4	10.6	370	2743	0.00	2.15	0.00	0.000	260	0.000	0.048	3545	3598	2373	2408	2338	0	0	0	0	0	0	28.83	26.30	28.83
2789	0.51	117.2	3545	3598	2406	2338	50.4	14.2	380	2796	0.00	2.15	0.00	0.000	1030	0.000	0.035	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	26.34	28.83
2858	0.51	117.2	3553	2177	2406	2338	40.9	14.7	393	2864	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
2895	0.51	117.2	3553	2177	2406	2338	35.4	13.5	400	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
2932	0.51	117.2	2752	2175	2373	2333	31.0	11.9	407	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
2969	0.51	117.2	3553	2177	2407	2338	26.5	11.7	414	2975	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
3006	0.51	117.2	3553	2177	2406	2338	22.1	11.9	421	3013	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
3044	0.51	117.2	3553	2177	2406	2338	17.2	13.0	428	3050	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2177	2372	2406	2338	0	0	0	0	0	0	28.83	28.83	28.83
3080	0.51	117.2	2752	2175	2373	2333	12.7	12.2	435	3087	0.00	2.10	0.00	0.000	516	0.000	0.047	3563	775	2372	2407	2338	0	0	0	0	0	0	28.83	26.39	28.83
3148	0.51	117.2	3563	775	2408	2338	4.9	11.7	448	3155	0.00	2.15	0.00	0.000	1030	0.000	0.037	3563	2201	2373	2408	2338	0	0	0	0	0	0	28.83	26.43	28.83
3165	end climb: SURFACE_DEPTH_REACHED
state	3165	begin surface coast
3186	end surface coast: CONTROL_FINISHED_OK
state	3186	begin surface