Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 13 * 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 13 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 35 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 66 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 -1515.1659 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 -1515.1659

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 35 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 66 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 13 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 150114,055234,4744.257,-12224.920,37,1.0,40,16.6 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,-0.115

_SM_DEPTHo 1.33 KALMAN_X -2917.0,-84.7,54.2,2668.8,-1041.3

_SM_ANGLEo -80.5 KALMAN_Y 828.5,-127.4,888.0,1155.5,797.9

GPS2 150114,055700,4744.278,-12224.912,5,0.8,5,16.6 MHEAD_RNG_PITCHd_Wd 171.2,2949,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.022117 _10V_AH 10.6,0.410

SM_CCo 3301,57.92,0.057,0,0,1836,250.21 FG_AHR_24Vo 0.000

SM_GC 1.54,8.82,0.10,57.92,0.047,0.108,0.057,207,2274,1836,-9.81,-1.19,250.21,0,0,0,0,0,0,26.43,26.46,26.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,040457 MEM 323604

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16787,460

HUMID 42.00 CAP_FILE_SIZE 76039,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091220992

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

XPDR_PINGS 0 CURRENT 0.055, 60.0,1

ALTIM_BOTTOM_PING 105.6,7.3 GPS 150114,065506,4743.928,-12224.884,31,1.1,31,16.6

_24V_AH 24.3,0.970

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 245 132.62 SBE_CT 307 24 179.54

Roll_motor 69 107 182.76 nil 0 0 0.00

VBD_pump_during_apogee 178 730 3167.57 nil 0 0 0.00

VBD_pump_during_surface 57 56 79.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 69.33 nil 0 0 0.00

Iridium_during_connect 31 160 120.82 nil 0 0 0.00

Iridium_during_xfer 136 223 737.65 nil 0 0 0.00

Transponder_ping 1 420 17.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.69

TT8 1174 14 186.30

LPSleep 1055 2 24.50

TT8_Active 397 14 59.95

TT8_Sampling 979 37 388.62

TT8_CF8 39 47 19.63

TT8_Kalman 33 59 20.82

Analog_circuits 872 12 110.95

GPS_charging 0 0 0.00

Compass 752 15 125.50

RAFOS 0 0 0.00

Transponder 14 30 4.59

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 -117.2 207 2287 1854 1785 0.0 0.0 0 77 0.00 0.00 -59.67 0.000 16390 0.000 0.000 207 2287 3335 3249 3422 0 0 0 0 0 0 28.83 28.83 26.44

79 -0.51 -117.2 207 2287 3249 3421 3.0 -2.9 11 97 11.90 2.12 0.00 0.000 2308 0.246 0.052 3171 3631 3336 3251 3422 0 0 0 0 0 0 25.86 26.08 28.83

185 -0.51 -117.2 3170 3631 3259 3415 20.1 -15.7 31 192 0.08 2.15 0.00 0.000 3078 0.196 0.042 3185 2253 3337 3261 3414 0 0 0 0 0 0 26.07 26.17 28.83

223 -0.51 -117.2 3185 2245 3263 3411 25.5 -13.8 38 230 0.00 0.00 0.00 0.000 6 0.000 0.000 3185 2245 3337 3264 3411 0 0 0 0 0 0 28.83 28.83 28.83

261 -0.51 -117.2 3185 2244 3264 3411 30.8 -13.9 45 268 0.00 2.15 0.00 0.000 516 0.000 0.047 3185 827 3337 3264 3410 0 0 0 0 0 0 28.83 26.20 28.83

288 -0.51 -117.2 2208 826 3253 3408 34.5 -13.7 50 296 0.00 2.15 0.00 0.000 1030 0.000 0.044 3176 2220 3337 3264 3410 0 0 0 0 0 0 28.83 26.22 28.83

327 -0.51 -117.2 3176 2220 3265 3410 39.6 -12.4 57 334 0.00 2.25 0.00 0.000 260 0.000 0.055 3166 3662 3337 3265 3410 0 0 0 0 0 0 28.83 26.21 28.83

375 -0.51 -117.2 3166 3662 3265 3410 45.9 -12.9 66 383 0.10 2.17 0.00 0.000 3078 0.186 0.039 3187 2250 3337 3265 3410 0 0 0 0 0 0 26.14 26.27 28.83

415 -0.51 -117.2 3187 2250 3266 3409 50.6 -11.2 73 420 0.00 0.00 0.00 0.000 6 0.000 0.000 3187 2250 3337 3266 3409 0 0 0 0 0 0 28.83 28.83 28.83

482 -0.51 -117.2 3187 2250 3266 3409 58.5 -11.6 86 489 0.00 2.22 0.00 0.000 260 0.000 0.057 3179 3653 3337 3266 3409 0 0 0 0 0 0 28.83 26.27 28.83

520 -0.51 -117.2 3178 3654 3266 3409 63.5 -13.3 93 527 0.00 2.17 0.00 0.000 1030 0.000 0.038 3178 2233 3337 3266 3409 0 0 0 0 0 0 28.83 26.30 28.83

588 -0.51 -117.2 3178 2225 3266 3409 72.1 -12.0 106 595 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2224 3337 3266 3409 0 0 0 0 0 0 28.83 28.83 28.83

658 -0.51 -117.2 3178 2225 3267 3408 80.5 -11.8 119 664 0.00 2.25 0.00 0.000 260 0.000 0.057 3168 3654 3338 3267 3409 0 0 0 0 0 0 28.83 26.32 28.83

781 -0.51 -117.2 3168 3654 3267 3409 96.5 -12.4 143 789 0.10 2.15 0.00 0.000 3078 0.184 0.039 3191 2252 3338 3267 3409 0 0 0 0 0 0 26.27 26.39 28.83

850 -0.51 -117.2 3190 2252 3268 3408 104.6 -11.2 152 851 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2252 3338 3268 3408 0 0 0 0 0 0 28.83 28.83 28.83

970 -0.51 -117.2 3190 2252 3268 3408 117.6 -10.6 164 974 0.00 2.12 0.00 0.000 516 0.000 0.049 3191 837 3338 3268 3408 0 0 0 0 0 0 28.83 26.41 28.83

1077 -0.51 -117.2 3191 836 3268 3408 129.2 -11.0 174 1086 0.00 2.17 0.00 0.000 1030 0.000 0.045 3182 2251 3338 3268 3408 0 0 0 0 0 0 28.83 26.44 28.83

1206 -0.51 -117.2 3182 2251 3268 3408 143.3 -11.2 187 1210 0.00 2.17 0.00 0.000 516 0.000 0.049 3182 827 3338 3269 3408 0 0 0 0 0 0 28.83 26.46 28.83

1264 -0.51 -117.2 2288 826 3257 3406 149.9 -12.0 192 1273 0.03 2.22 0.00 0.000 3078 0.210 0.044 3181 2249 3338 3268 3408 0 0 0 0 0 0 26.37 26.48 28.83

1392 -0.51 -117.2 3180 2251 3268 3408 164.8 -11.1 205 1396 0.00 2.17 0.00 0.000 260 0.000 0.054 3171 3663 3338 3268 3408 0 0 0 0 0 0 28.83 26.47 28.83

1518 -0.51 -117.2 3171 3664 3269 3408 179.5 -11.5 217 1523 0.08 2.15 0.00 0.000 3078 0.196 0.037 3186 2246 3338 3268 3408 0 0 0 0 0 0 26.41 26.52 28.83

1531 end dive: TARGET_DEPTH_EXCEEDED

state 1531 begin apogee

1535 -0.13 0.0 3186 2131 3269 3408 181.2 -11.1 218 1627 0.38 0.00 87.05 0.731 10246 0.153 0.000 3305 2130 2856 2826 2886 0 0 0 0 0 0 26.39 28.83 24.79

1628 end apogee: CONTROL_FINISHED_OK

state 1629 begin climb

1630 0.51 117.2 3305 2130 2826 2886 184.4 0.0 227 1725 0.65 0.00 91.38 0.703 10246 0.122 0.000 3510 2129 2379 2415 2344 0 0 0 0 0 0 25.28 28.83 24.34

1843 0.51 117.2 3510 2130 2411 2339 166.9 9.1 249 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2130 2374 2411 2338 0 0 0 0 0 0 28.83 28.83 28.83

1962 0.51 117.2 3510 2130 2410 2338 156.5 9.2 261 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2130 2373 2409 2338 0 0 0 0 0 0 28.83 28.83 28.83

2082 0.51 117.2 3510 2130 2409 2338 145.6 9.3 273 2087 0.00 2.28 0.00 0.000 260 0.000 0.052 3510 3569 2373 2408 2338 0 0 0 0 0 0 28.83 25.91 28.83

2108 0.51 117.2 3510 3570 2405 2337 142.9 10.3 275 2113 0.00 2.15 0.00 0.000 1030 0.000 0.037 3516 2180 2370 2405 2336 0 0 0 0 0 0 28.83 25.96 28.83

2234 0.51 117.2 3516 2180 2406 2337 129.6 10.3 287 2238 0.00 2.15 0.00 0.000 516 0.000 0.045 3526 756 2371 2406 2337 0 0 0 0 0 0 28.83 26.07 28.83

2322 0.51 117.2 2842 755 2378 2333 120.4 11.0 295 2330 0.00 2.20 0.00 0.000 1030 0.000 0.036 3526 2168 2372 2407 2337 0 0 0 0 0 0 28.83 26.15 28.83

2449 0.51 117.2 3526 2169 2406 2337 105.7 11.3 308 2453 0.00 2.17 0.00 0.000 516 0.000 0.047 3533 755 2372 2407 2337 0 0 0 0 0 0 28.83 26.19 28.83

2478 0.51 117.2 3533 755 2407 2337 102.9 11.5 310 2486 0.00 2.17 0.00 0.000 1030 0.000 0.036 3533 2155 2371 2406 2337 0 0 0 0 0 0 28.83 26.22 28.83

2605 0.51 117.2 3533 2155 2407 2337 87.7 11.4 333 2611 0.00 2.17 0.00 0.000 260 0.000 0.051 3533 3565 2370 2406 2335 0 0 0 0 0 0 28.83 26.24 28.83

2658 0.51 117.2 3533 3565 2404 2336 80.9 13.5 343 2665 0.00 2.15 0.00 0.000 1030 0.000 0.037 3542 2161 2370 2404 2336 0 0 0 0 0 0 28.83 26.30 28.83

2727 0.51 117.2 2720 2159 2369 2331 72.1 13.6 356 2733 0.00 0.00 0.00 0.000 6 0.000 0.000 3542 2160 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

2794 0.51 117.2 3542 2161 2404 2335 63.3 12.8 369 2801 0.00 2.12 0.00 0.000 516 0.000 0.045 3551 751 2370 2405 2336 0 0 0 0 0 0 28.83 26.32 28.83

2832 0.51 117.2 3551 751 2406 2336 58.7 11.9 376 2839 0.00 2.15 0.00 0.000 1030 0.000 0.037 3551 2169 2371 2406 2336 0 0 0 0 0 0 28.83 26.34 28.83

2900 0.51 117.2 3551 2171 2405 2336 49.9 13.6 389 2907 0.00 2.17 0.00 0.000 260 0.000 0.051 3551 3575 2370 2405 2336 0 0 0 0 0 0 28.83 26.32 28.83

2943 0.51 117.2 3551 3575 2404 2335 43.5 14.9 397 2950 0.00 2.15 0.00 0.000 1030 0.000 0.039 3559 2165 2370 2404 2336 0 0 0 0 0 0 28.83 26.37 28.83

2981 0.51 117.2 3559 2164 2404 2336 38.2 13.6 404 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2164 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

3019 0.51 117.2 3559 2164 2404 2336 33.3 12.9 411 3025 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2164 2370 2404 2336 0 0 0 0 0 0 28.83 28.83 28.83

3055 0.51 117.2 2768 2162 2370 2331 28.8 11.6 418 3063 0.00 2.12 0.00 0.000 516 0.000 0.047 3570 754 2369 2403 2336 0 0 0 0 0 0 28.83 26.38 28.83

3089 0.51 117.2 2784 753 2372 2331 24.4 13.3 424 3096 0.10 2.15 0.00 0.000 5126 0.174 0.037 3546 2177 2370 2405 2336 0 0 0 0 0 0 26.29 26.40 28.83

3128 0.51 117.2 3545 2178 2405 2335 19.5 12.3 431 3134 0.00 0.00 0.00 0.000 6 0.000 0.000 3545 2178 2370 2405 2336 0 0 0 0 0 0 28.83 28.83 28.83

3164 0.51 117.2 2720 2177 2371 2331 14.9 12.4 438 3172 0.00 2.20 0.00 0.000 516 0.000 0.048 3554 750 2370 2405 2336 0 0 0 0 0 0 28.83 26.39 28.83

3215 0.51 117.2 3554 749 2405 2336 9.0 12.1 447 3222 0.00 2.15 0.00 0.000 1030 0.000 0.037 3554 2173 2370 2405 2336 0 0 0 0 0 0 28.83 26.42 28.83

3252 0.51 117.2 2752 2172 2371 2331 4.4 11.4 454 3259 0.00 0.00 0.00 0.000 6 0.000 0.000 3554 2173 2370 2405 2335 0 0 0 0 0 0 28.83 28.83 28.83

3264 end climb: SURFACE_DEPTH_REACHED

state 3264 begin surface coast

3286 end surface coast: CONTROL_FINISHED_OK

state 3286 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	13	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	35	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	66	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	-1515.1659	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	150114,055234,4744.257,-12224.920,37,1.0,40,16.6	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,-0.115
_SM_DEPTHo	1.33	KALMAN_X	-2917.0,-84.7,54.2,2668.8,-1041.3
_SM_ANGLEo	-80.5	KALMAN_Y	828.5,-127.4,888.0,1155.5,797.9
GPS2	150114,055700,4744.278,-12224.912,5,0.8,5,16.6	MHEAD_RNG_PITCHd_Wd	171.2,2949,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.4,1.022117	_10V_AH	10.6,0.410
SM_CCo	3301,57.92,0.057,0,0,1836,250.21	FG_AHR_24Vo	0.000
SM_GC	1.54,8.82,0.10,57.92,0.047,0.108,0.057,207,2274,1836,-9.81,-1.19,250.21,0,0,0,0,0,0,26.43,26.46,26.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,040457	MEM	323604
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16787,460
HUMID	42.00	CAP_FILE_SIZE	76039,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091220992
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.055, 60.0,1
ALTIM_BOTTOM_PING	105.6,7.3	GPS	150114,065506,4743.928,-12224.884,31,1.1,31,16.6
_24V_AH	24.3,0.970

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	245	132.62	SBE_CT	307	24	179.54
Roll_motor	69	107	182.76	nil	0	0	0.00
VBD_pump_during_apogee	178	730	3167.57	nil	0	0	0.00
VBD_pump_during_surface	57	56	79.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	69.33	nil	0	0	0.00
Iridium_during_connect	31	160	120.82	nil	0	0	0.00
Iridium_during_xfer	136	223	737.65	nil	0	0	0.00
Transponder_ping	1	420	17.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.69
TT8	1174	14	186.30
LPSleep	1055	2	24.50
TT8_Active	397	14	59.95
TT8_Sampling	979	37	388.62
TT8_CF8	39	47	19.63
TT8_Kalman	33	59	20.82
Analog_circuits	872	12	110.95
GPS_charging	0	0	0.00
Compass	752	15	125.50
RAFOS	0	0	0.00
Transponder	14	30	4.59

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	207	2287	1854	1785	0.0	0.0	0	77	0.00	0.00	-59.67	0.000	16390	0.000	0.000	207	2287	3335	3249	3422	0	0	0	0	0	0	28.83	28.83	26.44
79	-0.51	-117.2	207	2287	3249	3421	3.0	-2.9	11	97	11.90	2.12	0.00	0.000	2308	0.246	0.052	3171	3631	3336	3251	3422	0	0	0	0	0	0	25.86	26.08	28.83
185	-0.51	-117.2	3170	3631	3259	3415	20.1	-15.7	31	192	0.08	2.15	0.00	0.000	3078	0.196	0.042	3185	2253	3337	3261	3414	0	0	0	0	0	0	26.07	26.17	28.83
223	-0.51	-117.2	3185	2245	3263	3411	25.5	-13.8	38	230	0.00	0.00	0.00	0.000	6	0.000	0.000	3185	2245	3337	3264	3411	0	0	0	0	0	0	28.83	28.83	28.83
261	-0.51	-117.2	3185	2244	3264	3411	30.8	-13.9	45	268	0.00	2.15	0.00	0.000	516	0.000	0.047	3185	827	3337	3264	3410	0	0	0	0	0	0	28.83	26.20	28.83
288	-0.51	-117.2	2208	826	3253	3408	34.5	-13.7	50	296	0.00	2.15	0.00	0.000	1030	0.000	0.044	3176	2220	3337	3264	3410	0	0	0	0	0	0	28.83	26.22	28.83
327	-0.51	-117.2	3176	2220	3265	3410	39.6	-12.4	57	334	0.00	2.25	0.00	0.000	260	0.000	0.055	3166	3662	3337	3265	3410	0	0	0	0	0	0	28.83	26.21	28.83
375	-0.51	-117.2	3166	3662	3265	3410	45.9	-12.9	66	383	0.10	2.17	0.00	0.000	3078	0.186	0.039	3187	2250	3337	3265	3410	0	0	0	0	0	0	26.14	26.27	28.83
415	-0.51	-117.2	3187	2250	3266	3409	50.6	-11.2	73	420	0.00	0.00	0.00	0.000	6	0.000	0.000	3187	2250	3337	3266	3409	0	0	0	0	0	0	28.83	28.83	28.83
482	-0.51	-117.2	3187	2250	3266	3409	58.5	-11.6	86	489	0.00	2.22	0.00	0.000	260	0.000	0.057	3179	3653	3337	3266	3409	0	0	0	0	0	0	28.83	26.27	28.83
520	-0.51	-117.2	3178	3654	3266	3409	63.5	-13.3	93	527	0.00	2.17	0.00	0.000	1030	0.000	0.038	3178	2233	3337	3266	3409	0	0	0	0	0	0	28.83	26.30	28.83
588	-0.51	-117.2	3178	2225	3266	3409	72.1	-12.0	106	595	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2224	3337	3266	3409	0	0	0	0	0	0	28.83	28.83	28.83
658	-0.51	-117.2	3178	2225	3267	3408	80.5	-11.8	119	664	0.00	2.25	0.00	0.000	260	0.000	0.057	3168	3654	3338	3267	3409	0	0	0	0	0	0	28.83	26.32	28.83
781	-0.51	-117.2	3168	3654	3267	3409	96.5	-12.4	143	789	0.10	2.15	0.00	0.000	3078	0.184	0.039	3191	2252	3338	3267	3409	0	0	0	0	0	0	26.27	26.39	28.83
850	-0.51	-117.2	3190	2252	3268	3408	104.6	-11.2	152	851	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2252	3338	3268	3408	0	0	0	0	0	0	28.83	28.83	28.83
970	-0.51	-117.2	3190	2252	3268	3408	117.6	-10.6	164	974	0.00	2.12	0.00	0.000	516	0.000	0.049	3191	837	3338	3268	3408	0	0	0	0	0	0	28.83	26.41	28.83
1077	-0.51	-117.2	3191	836	3268	3408	129.2	-11.0	174	1086	0.00	2.17	0.00	0.000	1030	0.000	0.045	3182	2251	3338	3268	3408	0	0	0	0	0	0	28.83	26.44	28.83
1206	-0.51	-117.2	3182	2251	3268	3408	143.3	-11.2	187	1210	0.00	2.17	0.00	0.000	516	0.000	0.049	3182	827	3338	3269	3408	0	0	0	0	0	0	28.83	26.46	28.83
1264	-0.51	-117.2	2288	826	3257	3406	149.9	-12.0	192	1273	0.03	2.22	0.00	0.000	3078	0.210	0.044	3181	2249	3338	3268	3408	0	0	0	0	0	0	26.37	26.48	28.83
1392	-0.51	-117.2	3180	2251	3268	3408	164.8	-11.1	205	1396	0.00	2.17	0.00	0.000	260	0.000	0.054	3171	3663	3338	3268	3408	0	0	0	0	0	0	28.83	26.47	28.83
1518	-0.51	-117.2	3171	3664	3269	3408	179.5	-11.5	217	1523	0.08	2.15	0.00	0.000	3078	0.196	0.037	3186	2246	3338	3268	3408	0	0	0	0	0	0	26.41	26.52	28.83
1531	end dive: TARGET_DEPTH_EXCEEDED
state	1531	begin apogee
1535	-0.13	0.0	3186	2131	3269	3408	181.2	-11.1	218	1627	0.38	0.00	87.05	0.731	10246	0.153	0.000	3305	2130	2856	2826	2886	0	0	0	0	0	0	26.39	28.83	24.79
1628	end apogee: CONTROL_FINISHED_OK
state	1629	begin climb
1630	0.51	117.2	3305	2130	2826	2886	184.4	0.0	227	1725	0.65	0.00	91.38	0.703	10246	0.122	0.000	3510	2129	2379	2415	2344	0	0	0	0	0	0	25.28	28.83	24.34
1843	0.51	117.2	3510	2130	2411	2339	166.9	9.1	249	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2130	2374	2411	2338	0	0	0	0	0	0	28.83	28.83	28.83
1962	0.51	117.2	3510	2130	2410	2338	156.5	9.2	261	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2130	2373	2409	2338	0	0	0	0	0	0	28.83	28.83	28.83
2082	0.51	117.2	3510	2130	2409	2338	145.6	9.3	273	2087	0.00	2.28	0.00	0.000	260	0.000	0.052	3510	3569	2373	2408	2338	0	0	0	0	0	0	28.83	25.91	28.83
2108	0.51	117.2	3510	3570	2405	2337	142.9	10.3	275	2113	0.00	2.15	0.00	0.000	1030	0.000	0.037	3516	2180	2370	2405	2336	0	0	0	0	0	0	28.83	25.96	28.83
2234	0.51	117.2	3516	2180	2406	2337	129.6	10.3	287	2238	0.00	2.15	0.00	0.000	516	0.000	0.045	3526	756	2371	2406	2337	0	0	0	0	0	0	28.83	26.07	28.83
2322	0.51	117.2	2842	755	2378	2333	120.4	11.0	295	2330	0.00	2.20	0.00	0.000	1030	0.000	0.036	3526	2168	2372	2407	2337	0	0	0	0	0	0	28.83	26.15	28.83
2449	0.51	117.2	3526	2169	2406	2337	105.7	11.3	308	2453	0.00	2.17	0.00	0.000	516	0.000	0.047	3533	755	2372	2407	2337	0	0	0	0	0	0	28.83	26.19	28.83
2478	0.51	117.2	3533	755	2407	2337	102.9	11.5	310	2486	0.00	2.17	0.00	0.000	1030	0.000	0.036	3533	2155	2371	2406	2337	0	0	0	0	0	0	28.83	26.22	28.83
2605	0.51	117.2	3533	2155	2407	2337	87.7	11.4	333	2611	0.00	2.17	0.00	0.000	260	0.000	0.051	3533	3565	2370	2406	2335	0	0	0	0	0	0	28.83	26.24	28.83
2658	0.51	117.2	3533	3565	2404	2336	80.9	13.5	343	2665	0.00	2.15	0.00	0.000	1030	0.000	0.037	3542	2161	2370	2404	2336	0	0	0	0	0	0	28.83	26.30	28.83
2727	0.51	117.2	2720	2159	2369	2331	72.1	13.6	356	2733	0.00	0.00	0.00	0.000	6	0.000	0.000	3542	2160	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
2794	0.51	117.2	3542	2161	2404	2335	63.3	12.8	369	2801	0.00	2.12	0.00	0.000	516	0.000	0.045	3551	751	2370	2405	2336	0	0	0	0	0	0	28.83	26.32	28.83
2832	0.51	117.2	3551	751	2406	2336	58.7	11.9	376	2839	0.00	2.15	0.00	0.000	1030	0.000	0.037	3551	2169	2371	2406	2336	0	0	0	0	0	0	28.83	26.34	28.83
2900	0.51	117.2	3551	2171	2405	2336	49.9	13.6	389	2907	0.00	2.17	0.00	0.000	260	0.000	0.051	3551	3575	2370	2405	2336	0	0	0	0	0	0	28.83	26.32	28.83
2943	0.51	117.2	3551	3575	2404	2335	43.5	14.9	397	2950	0.00	2.15	0.00	0.000	1030	0.000	0.039	3559	2165	2370	2404	2336	0	0	0	0	0	0	28.83	26.37	28.83
2981	0.51	117.2	3559	2164	2404	2336	38.2	13.6	404	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2164	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
3019	0.51	117.2	3559	2164	2404	2336	33.3	12.9	411	3025	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2164	2370	2404	2336	0	0	0	0	0	0	28.83	28.83	28.83
3055	0.51	117.2	2768	2162	2370	2331	28.8	11.6	418	3063	0.00	2.12	0.00	0.000	516	0.000	0.047	3570	754	2369	2403	2336	0	0	0	0	0	0	28.83	26.38	28.83
3089	0.51	117.2	2784	753	2372	2331	24.4	13.3	424	3096	0.10	2.15	0.00	0.000	5126	0.174	0.037	3546	2177	2370	2405	2336	0	0	0	0	0	0	26.29	26.40	28.83
3128	0.51	117.2	3545	2178	2405	2335	19.5	12.3	431	3134	0.00	0.00	0.00	0.000	6	0.000	0.000	3545	2178	2370	2405	2336	0	0	0	0	0	0	28.83	28.83	28.83
3164	0.51	117.2	2720	2177	2371	2331	14.9	12.4	438	3172	0.00	2.20	0.00	0.000	516	0.000	0.048	3554	750	2370	2405	2336	0	0	0	0	0	0	28.83	26.39	28.83
3215	0.51	117.2	3554	749	2405	2336	9.0	12.1	447	3222	0.00	2.15	0.00	0.000	1030	0.000	0.037	3554	2173	2370	2405	2336	0	0	0	0	0	0	28.83	26.42	28.83
3252	0.51	117.2	2752	2172	2371	2331	4.4	11.4	454	3259	0.00	0.00	0.00	0.000	6	0.000	0.000	3554	2173	2370	2405	2335	0	0	0	0	0	0	28.83	28.83	28.83
3264	end climb: SURFACE_DEPTH_REACHED
state	3264	begin surface coast
3286	end surface coast: CONTROL_FINISHED_OK
state	3286	begin surface