Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 11 * 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 11 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 -1504.9109 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 -1504.9109

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 3370 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 11 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 150114,034635,4744.222,-12224.876,25,1.1,25,16.6 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,-0.173

_SM_DEPTHo 1.29 KALMAN_X -2041.1,-222.8,477.9,1518.6,-638.3

_SM_ANGLEo -81.4 KALMAN_Y 1629.6,-1735.1,13.3,2839.2,1834.2

GPS2 150114,035402,4744.283,-12224.907,5,1.1,5,16.6 MHEAD_RNG_PITCHd_Wd 180.5,2935,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 2.4,1.023071 _10V_AH 10.5,0.355

SM_CCo 3222,57.60,0.057,0,0,1837,250.21 FG_AHR_24Vo 0.000

SM_GC 1.55,9.18,2.35,57.60,0.069,0.035,0.057,206,2260,1837,-9.81,-0.85,250.21,0,0,0,0,0,0,26.41,26.41,26.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,020230 MEM 323604

TT8_MAMPS 0.02996,0.02996 DATA_FILE_SIZE 16823,458

HUMID 42.43 CAP_FILE_SIZE 73825,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091417600

TCM_TEMP 17.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.218, 16.3,1

ALTIM_BOTTOM_PING 110.9,7.2 GPS 150114,045059,4744.334,-12224.979,41,0.9,41,16.6

_24V_AH 24.3,0.871

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 240 131.48 SBE_CT 306 24 178.96

Roll_motor 66 74 119.01 nil 0 0 0.00

VBD_pump_during_apogee 177 730 3155.15 nil 0 0 0.00

VBD_pump_during_surface 57 56 79.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.83 nil 0 0 0.00

Iridium_during_connect 33 160 131.28 nil 0 0 0.00

Iridium_during_xfer 313 223 1698.86 nil 0 0 0.00

Transponder_ping 2 420 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.66

TT8 1157 14 181.79

LPSleep 993 2 22.84

TT8_Active 373 14 55.75

TT8_Sampling 1184 37 465.55

TT8_CF8 39 47 19.80

TT8_Kalman 33 59 20.61

Analog_circuits 854 12 107.69

GPS_charging 0 0 0.00

Compass 779 15 128.76

RAFOS 0 0 0.00

Transponder 15 30 4.95

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 -0.51 -117.2 204 2255 1849 1788 0.0 0.0 0 72 0.00 0.00 -55.25 0.000 16386 0.000 0.000 204 2255 3191 3106 3277 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.51 -117.2 204 2255 3106 3277 3.0 -6.7 10 100 11.85 2.28 -3.78 0.000 18692 0.240 0.074 3171 3672 3335 3264 3407 0 0 0 0 0 0 25.73 25.94 26.23

325 -0.51 -117.2 2192 3671 3254 3406 37.6 -12.8 59 333 0.08 2.20 0.00 0.000 3078 0.198 0.042 3185 2254 3337 3266 3408 0 0 0 0 0 0 26.06 26.17 28.83

365 -0.51 -117.2 3185 2255 3266 3408 42.3 -11.7 66 371 0.00 2.22 0.00 0.000 260 0.000 0.056 3176 3652 3337 3266 3408 0 0 0 0 0 0 28.83 26.15 28.83

578 -0.51 -117.2 3176 3652 3267 3408 70.0 -11.5 108 584 0.00 2.17 0.00 0.000 1030 0.000 0.043 3176 2248 3337 3267 3407 0 0 0 0 0 0 28.83 26.28 28.83

647 -0.51 -117.2 3176 2247 3267 3407 78.2 -11.7 121 654 0.00 2.22 0.00 0.000 260 0.000 0.057 3167 3651 3337 3267 3407 0 0 0 0 0 0 28.83 26.28 28.83

721 -0.51 -117.2 3165 3651 3267 3407 85.9 -10.3 135 728 0.10 2.15 0.00 0.000 3078 0.185 0.041 3188 2253 3336 3267 3406 0 0 0 0 0 0 26.21 26.33 28.83

790 -0.51 -117.2 3188 2253 3268 3407 93.1 -10.3 148 796 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2253 3337 3268 3406 0 0 0 0 0 0 28.83 28.83 28.83

859 -0.51 -117.2 3188 2253 3269 3406 100.2 -10.1 161 868 0.00 2.15 0.00 0.000 516 0.000 0.047 3189 830 3336 3268 3405 0 0 0 0 0 0 28.83 26.35 28.83

977 -0.51 -117.2 3188 829 3269 3406 113.9 -11.9 172 984 0.00 2.17 0.00 0.000 1030 0.000 0.045 3179 2245 3336 3268 3405 0 0 0 0 0 0 28.83 26.39 28.83

1103 -0.51 -117.2 3180 2245 3269 3405 129.8 -12.0 185 1108 0.00 2.17 0.00 0.000 516 0.000 0.050 3180 826 3337 3269 3405 0 0 0 0 0 0 28.83 26.41 28.83

1210 -0.51 -117.2 3180 825 3269 3406 142.6 -12.3 195 1219 0.08 2.17 0.00 0.000 3078 0.220 0.042 3184 2251 3337 3269 3406 0 0 0 0 0 0 26.32 26.45 28.83

1339 -0.51 -117.2 3184 2252 3269 3406 155.5 -8.6 208 1340 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2251 3337 3269 3405 0 0 0 0 0 0 28.83 28.83 28.83

1459 -0.51 -117.2 3184 2252 3269 3405 166.4 -10.7 220 1463 0.00 2.17 0.00 0.000 260 0.000 0.054 3175 3662 3337 3269 3405 0 0 0 0 0 0 28.83 26.46 28.83

1573 end dive: TARGET_DEPTH_EXCEEDED

state 1574 begin apogee

1580 -0.13 0.0 3175 2157 3269 3405 181.1 -14.4 231 1675 0.43 0.00 86.68 0.731 10246 0.155 0.000 3307 2157 2857 2827 2887 0 0 0 0 0 0 26.37 28.83 24.79

1676 end apogee: CONTROL_FINISHED_OK

state 1676 begin climb

1677 0.51 117.2 3307 2156 2828 2887 186.8 0.0 241 1778 0.65 2.33 91.05 0.705 10756 0.122 0.045 3522 757 2378 2414 2343 0 0 0 0 0 0 25.29 24.87 24.34

1810 0.51 117.2 3521 756 2412 2340 178.0 9.5 254 1814 0.00 2.25 0.00 0.000 1030 0.000 0.036 3522 2175 2376 2412 2340 0 0 0 0 0 0 28.83 25.21 28.83

1935 0.51 117.2 3521 2175 2411 2337 165.0 11.2 266 1939 0.00 2.20 0.00 0.000 260 0.000 0.050 3522 3570 2373 2410 2337 0 0 0 0 0 0 28.83 25.63 28.83

1993 0.51 117.2 2826 3568 2378 2332 158.1 13.6 271 2001 0.00 2.25 0.00 0.000 1030 0.000 0.037 3530 2164 2372 2408 2336 0 0 0 0 0 0 28.83 25.78 28.83

2121 0.51 117.2 3529 2164 2407 2336 141.6 11.7 284 2125 0.00 2.15 0.00 0.000 516 0.000 0.046 3540 755 2371 2407 2336 0 0 0 0 0 0 28.83 25.93 28.83

2196 0.51 117.2 3540 755 2408 2336 132.5 12.4 291 2201 0.00 2.17 0.00 0.000 1030 0.000 0.037 3540 2172 2372 2408 2336 0 0 0 0 0 0 28.83 26.02 28.83

2322 0.51 117.2 3540 2173 2408 2336 117.4 12.4 303 2330 0.00 2.22 0.00 0.000 516 0.000 0.053 3548 749 2372 2408 2336 0 0 0 0 0 0 28.83 26.10 28.83

2375 0.51 117.2 3548 749 2408 2336 111.2 12.4 308 2382 0.00 2.20 0.00 0.000 1030 0.000 0.037 3548 2161 2372 2408 2336 0 0 0 0 0 0 28.83 26.15 28.83

2502 0.51 117.2 3548 2161 2407 2335 92.7 14.2 326 2508 0.00 0.00 0.00 0.000 6 0.000 0.000 3548 2161 2371 2407 2335 0 0 0 0 0 0 28.83 28.83 28.83

2570 0.51 117.2 3548 2161 2407 2335 83.4 13.6 339 2577 0.00 2.17 0.00 0.000 260 0.000 0.050 3548 3572 2371 2407 2335 0 0 0 0 0 0 28.83 26.21 28.83

2635 0.51 117.2 3547 3573 2404 2335 73.7 14.8 351 2642 0.00 2.17 0.00 0.000 1030 0.000 0.039 3558 2153 2369 2404 2335 0 0 0 0 0 0 28.83 26.27 28.83

2702 0.51 117.2 2768 2151 2370 2330 64.2 13.0 364 2708 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2152 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2770 0.51 117.2 3557 2153 2404 2335 55.4 12.8 377 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2153 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2837 0.51 117.2 3557 2153 2404 2335 46.9 12.1 390 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2153 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2874 0.51 117.2 3557 2153 2404 2335 42.1 12.8 397 2880 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2153 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2911 0.51 117.2 2784 2151 2370 2330 37.7 12.4 404 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2153 2369 2404 2335 0 0 0 0 0 0 28.83 28.83 28.83

2948 0.51 117.2 3557 2153 2404 2335 32.7 13.4 411 2955 0.00 2.22 0.00 0.000 260 0.000 0.050 3558 3570 2369 2404 2335 0 0 0 0 0 0 28.83 26.34 28.83

2966 0.51 117.2 3557 3570 2404 2335 30.4 12.8 414 2974 0.08 2.15 0.00 0.000 5126 0.198 0.039 3552 2162 2369 2404 2335 0 0 0 0 0 0 26.26 26.37 28.83

3006 0.51 117.2 3552 2162 2404 2335 25.6 11.6 421 3012 0.00 2.12 0.00 0.000 516 0.000 0.047 3562 751 2369 2404 2335 0 0 0 0 0 0 28.83 26.36 28.83

3029 0.51 117.2 3562 751 2405 2335 23.0 11.7 425 3035 0.00 2.15 0.00 0.000 1030 0.000 0.038 3562 2169 2370 2405 2335 0 0 0 0 0 0 28.83 26.37 28.83

3066 0.51 117.2 2768 2167 2371 2330 18.4 12.7 432 3072 0.00 2.15 0.00 0.000 260 0.000 0.051 3562 3567 2370 2405 2335 0 0 0 0 0 0 28.83 26.35 28.83

3094 0.51 117.2 3561 3567 2403 2335 14.8 13.9 437 3101 0.10 2.15 0.00 0.000 5126 0.186 0.039 3548 2157 2369 2404 2335 0 0 0 0 0 0 26.27 26.39 28.83

3132 0.51 117.2 2752 2155 2370 2330 10.1 11.5 444 3138 0.00 2.12 0.00 0.000 516 0.000 0.046 3558 747 2369 2404 2335 0 0 0 0 0 0 28.83 26.39 28.83

3199 end climb: SURFACE_DEPTH_REACHED

state 3199 begin surface coast

3204 end surface coast: CONTROL_FINISHED_OK

state 3205 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	11	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	-1504.9109	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	150114,034635,4744.222,-12224.876,25,1.1,25,16.6	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,-0.173
_SM_DEPTHo	1.29	KALMAN_X	-2041.1,-222.8,477.9,1518.6,-638.3
_SM_ANGLEo	-81.4	KALMAN_Y	1629.6,-1735.1,13.3,2839.2,1834.2
GPS2	150114,035402,4744.283,-12224.907,5,1.1,5,16.6	MHEAD_RNG_PITCHd_Wd	180.5,2935,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	2.4,1.023071	_10V_AH	10.5,0.355
SM_CCo	3222,57.60,0.057,0,0,1837,250.21	FG_AHR_24Vo	0.000
SM_GC	1.55,9.18,2.35,57.60,0.069,0.035,0.057,206,2260,1837,-9.81,-0.85,250.21,0,0,0,0,0,0,26.41,26.41,26.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,020230	MEM	323604
TT8_MAMPS	0.02996,0.02996	DATA_FILE_SIZE	16823,458
HUMID	42.43	CAP_FILE_SIZE	73825,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091417600
TCM_TEMP	17.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.218, 16.3,1
ALTIM_BOTTOM_PING	110.9,7.2	GPS	150114,045059,4744.334,-12224.979,41,0.9,41,16.6
_24V_AH	24.3,0.871

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	240	131.48	SBE_CT	306	24	178.96
Roll_motor	66	74	119.01	nil	0	0	0.00
VBD_pump_during_apogee	177	730	3155.15	nil	0	0	0.00
VBD_pump_during_surface	57	56	79.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.83	nil	0	0	0.00
Iridium_during_connect	33	160	131.28	nil	0	0	0.00
Iridium_during_xfer	313	223	1698.86	nil	0	0	0.00
Transponder_ping	2	420	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.66
TT8	1157	14	181.79
LPSleep	993	2	22.84
TT8_Active	373	14	55.75
TT8_Sampling	1184	37	465.55
TT8_CF8	39	47	19.80
TT8_Kalman	33	59	20.61
Analog_circuits	854	12	107.69
GPS_charging	0	0	0.00
Compass	779	15	128.76
RAFOS	0	0	0.00
Transponder	15	30	4.95

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	-0.51	-117.2	204	2255	1849	1788	0.0	0.0	0	72	0.00	0.00	-55.25	0.000	16386	0.000	0.000	204	2255	3191	3106	3277	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.51	-117.2	204	2255	3106	3277	3.0	-6.7	10	100	11.85	2.28	-3.78	0.000	18692	0.240	0.074	3171	3672	3335	3264	3407	0	0	0	0	0	0	25.73	25.94	26.23
325	-0.51	-117.2	2192	3671	3254	3406	37.6	-12.8	59	333	0.08	2.20	0.00	0.000	3078	0.198	0.042	3185	2254	3337	3266	3408	0	0	0	0	0	0	26.06	26.17	28.83
365	-0.51	-117.2	3185	2255	3266	3408	42.3	-11.7	66	371	0.00	2.22	0.00	0.000	260	0.000	0.056	3176	3652	3337	3266	3408	0	0	0	0	0	0	28.83	26.15	28.83
578	-0.51	-117.2	3176	3652	3267	3408	70.0	-11.5	108	584	0.00	2.17	0.00	0.000	1030	0.000	0.043	3176	2248	3337	3267	3407	0	0	0	0	0	0	28.83	26.28	28.83
647	-0.51	-117.2	3176	2247	3267	3407	78.2	-11.7	121	654	0.00	2.22	0.00	0.000	260	0.000	0.057	3167	3651	3337	3267	3407	0	0	0	0	0	0	28.83	26.28	28.83
721	-0.51	-117.2	3165	3651	3267	3407	85.9	-10.3	135	728	0.10	2.15	0.00	0.000	3078	0.185	0.041	3188	2253	3336	3267	3406	0	0	0	0	0	0	26.21	26.33	28.83
790	-0.51	-117.2	3188	2253	3268	3407	93.1	-10.3	148	796	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2253	3337	3268	3406	0	0	0	0	0	0	28.83	28.83	28.83
859	-0.51	-117.2	3188	2253	3269	3406	100.2	-10.1	161	868	0.00	2.15	0.00	0.000	516	0.000	0.047	3189	830	3336	3268	3405	0	0	0	0	0	0	28.83	26.35	28.83
977	-0.51	-117.2	3188	829	3269	3406	113.9	-11.9	172	984	0.00	2.17	0.00	0.000	1030	0.000	0.045	3179	2245	3336	3268	3405	0	0	0	0	0	0	28.83	26.39	28.83
1103	-0.51	-117.2	3180	2245	3269	3405	129.8	-12.0	185	1108	0.00	2.17	0.00	0.000	516	0.000	0.050	3180	826	3337	3269	3405	0	0	0	0	0	0	28.83	26.41	28.83
1210	-0.51	-117.2	3180	825	3269	3406	142.6	-12.3	195	1219	0.08	2.17	0.00	0.000	3078	0.220	0.042	3184	2251	3337	3269	3406	0	0	0	0	0	0	26.32	26.45	28.83
1339	-0.51	-117.2	3184	2252	3269	3406	155.5	-8.6	208	1340	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2251	3337	3269	3405	0	0	0	0	0	0	28.83	28.83	28.83
1459	-0.51	-117.2	3184	2252	3269	3405	166.4	-10.7	220	1463	0.00	2.17	0.00	0.000	260	0.000	0.054	3175	3662	3337	3269	3405	0	0	0	0	0	0	28.83	26.46	28.83
1573	end dive: TARGET_DEPTH_EXCEEDED
state	1574	begin apogee
1580	-0.13	0.0	3175	2157	3269	3405	181.1	-14.4	231	1675	0.43	0.00	86.68	0.731	10246	0.155	0.000	3307	2157	2857	2827	2887	0	0	0	0	0	0	26.37	28.83	24.79
1676	end apogee: CONTROL_FINISHED_OK
state	1676	begin climb
1677	0.51	117.2	3307	2156	2828	2887	186.8	0.0	241	1778	0.65	2.33	91.05	0.705	10756	0.122	0.045	3522	757	2378	2414	2343	0	0	0	0	0	0	25.29	24.87	24.34
1810	0.51	117.2	3521	756	2412	2340	178.0	9.5	254	1814	0.00	2.25	0.00	0.000	1030	0.000	0.036	3522	2175	2376	2412	2340	0	0	0	0	0	0	28.83	25.21	28.83
1935	0.51	117.2	3521	2175	2411	2337	165.0	11.2	266	1939	0.00	2.20	0.00	0.000	260	0.000	0.050	3522	3570	2373	2410	2337	0	0	0	0	0	0	28.83	25.63	28.83
1993	0.51	117.2	2826	3568	2378	2332	158.1	13.6	271	2001	0.00	2.25	0.00	0.000	1030	0.000	0.037	3530	2164	2372	2408	2336	0	0	0	0	0	0	28.83	25.78	28.83
2121	0.51	117.2	3529	2164	2407	2336	141.6	11.7	284	2125	0.00	2.15	0.00	0.000	516	0.000	0.046	3540	755	2371	2407	2336	0	0	0	0	0	0	28.83	25.93	28.83
2196	0.51	117.2	3540	755	2408	2336	132.5	12.4	291	2201	0.00	2.17	0.00	0.000	1030	0.000	0.037	3540	2172	2372	2408	2336	0	0	0	0	0	0	28.83	26.02	28.83
2322	0.51	117.2	3540	2173	2408	2336	117.4	12.4	303	2330	0.00	2.22	0.00	0.000	516	0.000	0.053	3548	749	2372	2408	2336	0	0	0	0	0	0	28.83	26.10	28.83
2375	0.51	117.2	3548	749	2408	2336	111.2	12.4	308	2382	0.00	2.20	0.00	0.000	1030	0.000	0.037	3548	2161	2372	2408	2336	0	0	0	0	0	0	28.83	26.15	28.83
2502	0.51	117.2	3548	2161	2407	2335	92.7	14.2	326	2508	0.00	0.00	0.00	0.000	6	0.000	0.000	3548	2161	2371	2407	2335	0	0	0	0	0	0	28.83	28.83	28.83
2570	0.51	117.2	3548	2161	2407	2335	83.4	13.6	339	2577	0.00	2.17	0.00	0.000	260	0.000	0.050	3548	3572	2371	2407	2335	0	0	0	0	0	0	28.83	26.21	28.83
2635	0.51	117.2	3547	3573	2404	2335	73.7	14.8	351	2642	0.00	2.17	0.00	0.000	1030	0.000	0.039	3558	2153	2369	2404	2335	0	0	0	0	0	0	28.83	26.27	28.83
2702	0.51	117.2	2768	2151	2370	2330	64.2	13.0	364	2708	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2152	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2770	0.51	117.2	3557	2153	2404	2335	55.4	12.8	377	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2153	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2837	0.51	117.2	3557	2153	2404	2335	46.9	12.1	390	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2153	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2874	0.51	117.2	3557	2153	2404	2335	42.1	12.8	397	2880	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2153	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2911	0.51	117.2	2784	2151	2370	2330	37.7	12.4	404	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2153	2369	2404	2335	0	0	0	0	0	0	28.83	28.83	28.83
2948	0.51	117.2	3557	2153	2404	2335	32.7	13.4	411	2955	0.00	2.22	0.00	0.000	260	0.000	0.050	3558	3570	2369	2404	2335	0	0	0	0	0	0	28.83	26.34	28.83
2966	0.51	117.2	3557	3570	2404	2335	30.4	12.8	414	2974	0.08	2.15	0.00	0.000	5126	0.198	0.039	3552	2162	2369	2404	2335	0	0	0	0	0	0	26.26	26.37	28.83
3006	0.51	117.2	3552	2162	2404	2335	25.6	11.6	421	3012	0.00	2.12	0.00	0.000	516	0.000	0.047	3562	751	2369	2404	2335	0	0	0	0	0	0	28.83	26.36	28.83
3029	0.51	117.2	3562	751	2405	2335	23.0	11.7	425	3035	0.00	2.15	0.00	0.000	1030	0.000	0.038	3562	2169	2370	2405	2335	0	0	0	0	0	0	28.83	26.37	28.83
3066	0.51	117.2	2768	2167	2371	2330	18.4	12.7	432	3072	0.00	2.15	0.00	0.000	260	0.000	0.051	3562	3567	2370	2405	2335	0	0	0	0	0	0	28.83	26.35	28.83
3094	0.51	117.2	3561	3567	2403	2335	14.8	13.9	437	3101	0.10	2.15	0.00	0.000	5126	0.186	0.039	3548	2157	2369	2404	2335	0	0	0	0	0	0	26.27	26.39	28.83
3132	0.51	117.2	2752	2155	2370	2330	10.1	11.5	444	3138	0.00	2.12	0.00	0.000	516	0.000	0.046	3558	747	2369	2404	2335	0	0	0	0	0	0	28.83	26.39	28.83
3199	end climb: SURFACE_DEPTH_REACHED
state	3199	begin surface coast
3204	end surface coast: CONTROL_FINISHED_OK
state	3205	begin surface