Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 14 * 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 14 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 60 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 -1516.4214 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 -1516.4214

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 60 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 14 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 150114,065506,4743.928,-12224.884,31,1.1,31,16.6 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.208,-0.000

_SM_DEPTHo 1.31 KALMAN_X -3576.9,19.8,-233.7,3542.2,-1053.6

_SM_ANGLEo -81.1 KALMAN_Y -63.5,788.7,733.1,642.9,-18.2

GPS2 150114,065926,4743.931,-12224.891,4,1.0,4,16.6 MHEAD_RNG_PITCHd_Wd 133.0,2444,-13.9,-6.977,-18.56,2536

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.021286 _10V_AH 10.5,0.437

SM_CCo 3186,58.03,0.057,0,0,1835,250.21 FG_AHR_24Vo 0.000

SM_GC 1.29,8.88,0.17,58.03,0.049,0.067,0.057,198,2267,1835,-9.83,-0.90,250.21,0,0,0,0,0,0,26.41,26.46,26.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,150114,050535 MEM 323588

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16782,452

HUMID 41.96 CAP_FILE_SIZE 69973,0

INTERNAL_PRESSURE 8.95134 CFSIZE 2097086464,2091122688

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 0.084,188.1,1

ALTIM_BOTTOM_PING 100.1,7.3 GPS 150114,075536,4743.441,-12224.692,31,1.1,31,16.6

_24V_AH 24.3,1.019

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 243 130.20 SBE_CT 302 24 176.69

Roll_motor 56 94 131.22 nil 0 0 0.00

VBD_pump_during_apogee 178 730 3166.24 nil 0 0 0.00

VBD_pump_during_surface 58 57 80.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 64.98 nil 0 0 0.00

Iridium_during_connect 30 160 118.03 nil 0 0 0.00

Iridium_during_xfer 132 223 720.07 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 1.66

TT8 1139 14 179.05

LPSleep 1026 2 23.61

TT8_Active 362 14 54.07

TT8_Sampling 959 37 377.14

TT8_CF8 36 47 18.11

TT8_Kalman 33 59 20.62

Analog_circuits 826 12 104.20

GPS_charging 0 0 0.00

Compass 737 15 121.79

RAFOS 0 0 0.00

Transponder 15 30 4.94

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 -117.2 206 2276 1853 1786 0.0 0.0 0 72 0.00 0.00 -54.75 0.000 16386 0.000 0.000 207 2276 3210 3124 3296 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.51 -117.2 207 2276 3124 3296 3.2 -6.2 10 99 11.80 2.17 -3.22 0.000 18692 0.243 0.073 3168 3622 3337 3263 3411 0 0 0 0 0 0 25.86 26.08 26.36

325 -0.51 -117.2 2192 3621 3254 3408 38.0 -13.4 59 333 0.10 2.10 0.00 0.000 3078 0.184 0.038 3189 2253 3338 3266 3410 0 0 0 0 0 0 26.13 26.26 28.83

365 -0.51 -117.2 3189 2253 3269 3408 43.0 -12.5 66 371 0.00 2.17 0.00 0.000 260 0.000 0.056 3181 3626 3339 3270 3408 0 0 0 0 0 0 28.83 26.24 28.83

438 -0.51 -117.2 3181 3626 3269 3408 52.2 -12.4 80 444 0.00 2.12 0.00 0.000 1030 0.000 0.038 3181 2239 3338 3269 3408 0 0 0 0 0 0 28.83 26.30 28.83

506 -0.51 -117.2 3181 2239 3269 3408 60.5 -12.5 93 512 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2239 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

574 -0.51 -117.2 3181 2239 3269 3408 68.9 -12.4 106 580 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2239 3338 3269 3408 0 0 0 0 0 0 28.83 28.83 28.83

642 -0.51 -117.2 2176 2233 3257 3406 77.3 -12.7 119 648 0.00 2.20 0.00 0.000 260 0.000 0.057 3171 3627 3339 3270 3408 0 0 0 0 0 0 28.83 26.32 28.83

788 -0.51 -117.2 3170 3627 3269 3408 98.4 -13.3 147 795 0.08 2.10 0.00 0.000 3078 0.197 0.040 3186 2251 3339 3270 3408 0 0 0 0 0 0 26.29 26.41 28.83

862 -0.51 -117.2 3185 2251 3270 3409 107.3 -11.7 155 863 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2251 3339 3270 3408 0 0 0 0 0 0 28.83 28.83 28.83

982 -0.51 -117.2 3185 2251 3269 3408 121.2 -11.9 167 986 0.00 2.12 0.00 0.000 516 0.000 0.049 3186 838 3339 3270 3408 0 0 0 0 0 0 28.83 26.42 28.83

1018 -0.51 -117.2 3186 838 3270 3408 125.3 -11.8 170 1027 0.00 2.12 0.00 0.000 1030 0.000 0.045 3178 2225 3339 3270 3408 0 0 0 0 0 0 28.83 26.44 28.83

1147 -0.51 -117.2 3177 2225 3270 3408 140.7 -12.3 183 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 3177 2225 3339 3270 3408 0 0 0 0 0 0 28.83 28.83 28.83

1267 -0.51 -117.2 3177 2225 3270 3408 156.2 -12.6 195 1271 0.00 2.22 0.00 0.000 260 0.000 0.056 3166 3664 3339 3270 3408 0 0 0 0 0 0 28.83 26.46 28.83

1336 -0.51 -117.2 3166 3664 3270 3408 165.2 -13.6 201 1344 0.08 2.22 0.00 0.000 3078 0.159 0.041 3190 2242 3339 3270 3408 0 0 0 0 0 0 26.38 26.50 28.83

1462 end dive: TARGET_DEPTH_EXCEEDED

state 1462 begin apogee

1466 -0.13 0.0 3190 2153 3270 3408 180.8 -12.6 214 1557 0.35 0.00 87.18 0.731 10246 0.147 0.000 3304 2153 2857 2827 2887 0 0 0 0 0 0 26.40 28.83 24.80

1558 end apogee: CONTROL_FINISHED_OK

state 1558 begin climb

1560 0.51 117.2 3304 2153 2827 2887 184.9 0.0 223 1660 0.65 2.38 91.18 0.704 10500 0.123 0.050 3511 3574 2378 2413 2343 0 0 0 0 0 0 25.27 24.84 24.32

1702 0.51 117.2 3511 3574 2408 2342 174.2 10.6 237 1706 0.00 2.25 0.00 0.000 1030 0.000 0.037 3519 2173 2374 2407 2342 0 0 0 0 0 0 28.83 25.25 28.83

1827 0.51 117.2 3519 2165 2407 2339 160.9 9.3 249 1831 0.00 2.22 0.00 0.000 516 0.000 0.049 3530 745 2373 2408 2339 0 0 0 0 0 0 28.83 25.65 28.83

1883 0.51 117.2 3530 745 2407 2339 155.1 10.5 254 1892 0.00 2.20 0.00 0.000 1030 0.000 0.035 3530 2170 2372 2407 2338 0 0 0 0 0 0 28.83 25.77 28.83

2012 0.51 117.2 3529 2171 2407 2337 139.8 12.4 267 2013 0.00 0.00 0.00 0.000 6 0.000 0.000 3530 2171 2372 2407 2338 0 0 0 0 0 0 28.83 28.83 28.83

2132 0.51 117.2 3530 2171 2406 2337 126.9 10.7 279 2136 0.00 2.20 0.00 0.000 260 0.000 0.055 3530 3564 2372 2407 2337 0 0 0 0 0 0 28.83 26.02 28.83

2158 0.51 117.2 3530 3564 2404 2337 123.6 11.9 281 2162 0.00 2.20 0.00 0.000 1030 0.000 0.043 3538 2155 2370 2404 2337 0 0 0 0 0 0 28.83 26.06 28.83

2283 0.51 117.2 3538 2155 2404 2337 109.6 10.9 293 2287 0.00 2.15 0.00 0.000 516 0.000 0.050 3547 753 2371 2405 2337 0 0 0 0 0 0 28.83 26.13 28.83

2361 0.51 117.2 3547 753 2405 2337 101.5 10.5 300 2369 0.00 2.20 0.00 0.000 1030 0.000 0.038 3547 2163 2371 2405 2337 0 0 0 0 0 0 28.83 26.19 28.83

2489 0.51 117.2 3547 2164 2405 2336 87.1 10.6 324 2494 0.00 0.00 0.00 0.000 6 0.000 0.000 3547 2164 2371 2405 2337 0 0 0 0 0 0 28.83 28.83 28.83

2555 0.51 117.2 2752 2161 2371 2332 79.4 11.6 337 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 3547 2164 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

2624 0.51 117.2 3547 2164 2404 2337 71.6 11.4 350 2630 0.00 2.17 0.00 0.000 260 0.000 0.055 3547 3568 2371 2405 2337 0 0 0 0 0 0 28.83 26.27 28.83

2662 0.51 117.2 3547 3568 2403 2336 66.4 13.7 357 2669 0.00 2.17 0.00 0.000 1030 0.000 0.041 3556 2152 2370 2403 2337 0 0 0 0 0 0 28.83 26.30 28.83

2731 0.51 117.2 3556 2151 2403 2337 57.6 12.3 370 2738 0.00 2.12 0.00 0.000 516 0.000 0.050 3566 755 2370 2404 2337 0 0 0 0 0 0 28.83 26.31 28.83

2764 0.51 117.2 3565 754 2404 2337 53.4 12.8 376 2771 0.00 2.15 0.00 0.000 1030 0.000 0.037 3565 2174 2370 2404 2337 0 0 0 0 0 0 28.83 26.34 28.83

2832 0.51 117.2 3565 2173 2404 2337 44.2 13.5 389 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2173 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

2870 0.51 117.2 3565 2173 2404 2337 39.2 13.6 396 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2173 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

2906 0.51 117.2 2784 2171 2370 2332 34.3 13.4 403 2912 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2173 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

2944 0.51 117.2 3565 2173 2404 2337 29.2 14.6 410 2950 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2174 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

2980 0.51 117.2 2784 2172 2370 2332 23.8 14.9 417 2988 0.00 2.20 0.00 0.000 516 0.000 0.051 3574 754 2370 2404 2337 0 0 0 0 0 0 28.83 26.36 28.83

3019 0.51 117.2 3574 754 2404 2336 18.6 13.4 424 3026 0.10 2.15 0.00 0.000 5126 0.168 0.037 3549 2176 2370 2404 2337 0 0 0 0 0 0 26.29 26.40 28.83

3057 0.51 117.2 2736 2175 2370 2332 13.4 13.2 431 3063 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2176 2370 2404 2337 0 0 0 0 0 0 28.83 28.83 28.83

3094 0.51 117.2 3549 2176 2404 2337 8.8 12.3 438 3101 0.00 2.15 0.00 0.000 260 0.000 0.053 3549 3568 2370 2404 2337 0 0 0 0 0 0 28.83 26.38 28.83

3127 0.51 117.2 3549 3568 2401 2337 4.6 12.9 444 3134 0.00 2.15 0.00 0.000 1030 0.000 0.039 3557 2155 2369 2402 2336 0 0 0 0 0 0 28.83 26.41 28.83

3144 end climb: SURFACE_DEPTH_REACHED

state 3144 begin surface coast

3171 end surface coast: CONTROL_FINISHED_OK

state 3171 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	14	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	60	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	-1516.4214	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	150114,065506,4743.928,-12224.884,31,1.1,31,16.6	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.208,-0.000
_SM_DEPTHo	1.31	KALMAN_X	-3576.9,19.8,-233.7,3542.2,-1053.6
_SM_ANGLEo	-81.1	KALMAN_Y	-63.5,788.7,733.1,642.9,-18.2
GPS2	150114,065926,4743.931,-12224.891,4,1.0,4,16.6	MHEAD_RNG_PITCHd_Wd	133.0,2444,-13.9,-6.977,-18.56,2536
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.4,1.021286	_10V_AH	10.5,0.437
SM_CCo	3186,58.03,0.057,0,0,1835,250.21	FG_AHR_24Vo	0.000
SM_GC	1.29,8.88,0.17,58.03,0.049,0.067,0.057,198,2267,1835,-9.83,-0.90,250.21,0,0,0,0,0,0,26.41,26.46,26.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,150114,050535	MEM	323588
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16782,452
HUMID	41.96	CAP_FILE_SIZE	69973,0
INTERNAL_PRESSURE	8.95134	CFSIZE	2097086464,2091122688
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	0.084,188.1,1
ALTIM_BOTTOM_PING	100.1,7.3	GPS	150114,075536,4743.441,-12224.692,31,1.1,31,16.6
_24V_AH	24.3,1.019

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	243	130.20	SBE_CT	302	24	176.69
Roll_motor	56	94	131.22	nil	0	0	0.00
VBD_pump_during_apogee	178	730	3166.24	nil	0	0	0.00
VBD_pump_during_surface	58	57	80.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	64.98	nil	0	0	0.00
Iridium_during_connect	30	160	118.03	nil	0	0	0.00
Iridium_during_xfer	132	223	720.07	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	1.66
TT8	1139	14	179.05
LPSleep	1026	2	23.61
TT8_Active	362	14	54.07
TT8_Sampling	959	37	377.14
TT8_CF8	36	47	18.11
TT8_Kalman	33	59	20.62
Analog_circuits	826	12	104.20
GPS_charging	0	0	0.00
Compass	737	15	121.79
RAFOS	0	0	0.00
Transponder	15	30	4.94

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	206	2276	1853	1786	0.0	0.0	0	72	0.00	0.00	-54.75	0.000	16386	0.000	0.000	207	2276	3210	3124	3296	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.51	-117.2	207	2276	3124	3296	3.2	-6.2	10	99	11.80	2.17	-3.22	0.000	18692	0.243	0.073	3168	3622	3337	3263	3411	0	0	0	0	0	0	25.86	26.08	26.36
325	-0.51	-117.2	2192	3621	3254	3408	38.0	-13.4	59	333	0.10	2.10	0.00	0.000	3078	0.184	0.038	3189	2253	3338	3266	3410	0	0	0	0	0	0	26.13	26.26	28.83
365	-0.51	-117.2	3189	2253	3269	3408	43.0	-12.5	66	371	0.00	2.17	0.00	0.000	260	0.000	0.056	3181	3626	3339	3270	3408	0	0	0	0	0	0	28.83	26.24	28.83
438	-0.51	-117.2	3181	3626	3269	3408	52.2	-12.4	80	444	0.00	2.12	0.00	0.000	1030	0.000	0.038	3181	2239	3338	3269	3408	0	0	0	0	0	0	28.83	26.30	28.83
506	-0.51	-117.2	3181	2239	3269	3408	60.5	-12.5	93	512	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2239	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
574	-0.51	-117.2	3181	2239	3269	3408	68.9	-12.4	106	580	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2239	3338	3269	3408	0	0	0	0	0	0	28.83	28.83	28.83
642	-0.51	-117.2	2176	2233	3257	3406	77.3	-12.7	119	648	0.00	2.20	0.00	0.000	260	0.000	0.057	3171	3627	3339	3270	3408	0	0	0	0	0	0	28.83	26.32	28.83
788	-0.51	-117.2	3170	3627	3269	3408	98.4	-13.3	147	795	0.08	2.10	0.00	0.000	3078	0.197	0.040	3186	2251	3339	3270	3408	0	0	0	0	0	0	26.29	26.41	28.83
862	-0.51	-117.2	3185	2251	3270	3409	107.3	-11.7	155	863	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2251	3339	3270	3408	0	0	0	0	0	0	28.83	28.83	28.83
982	-0.51	-117.2	3185	2251	3269	3408	121.2	-11.9	167	986	0.00	2.12	0.00	0.000	516	0.000	0.049	3186	838	3339	3270	3408	0	0	0	0	0	0	28.83	26.42	28.83
1018	-0.51	-117.2	3186	838	3270	3408	125.3	-11.8	170	1027	0.00	2.12	0.00	0.000	1030	0.000	0.045	3178	2225	3339	3270	3408	0	0	0	0	0	0	28.83	26.44	28.83
1147	-0.51	-117.2	3177	2225	3270	3408	140.7	-12.3	183	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	3177	2225	3339	3270	3408	0	0	0	0	0	0	28.83	28.83	28.83
1267	-0.51	-117.2	3177	2225	3270	3408	156.2	-12.6	195	1271	0.00	2.22	0.00	0.000	260	0.000	0.056	3166	3664	3339	3270	3408	0	0	0	0	0	0	28.83	26.46	28.83
1336	-0.51	-117.2	3166	3664	3270	3408	165.2	-13.6	201	1344	0.08	2.22	0.00	0.000	3078	0.159	0.041	3190	2242	3339	3270	3408	0	0	0	0	0	0	26.38	26.50	28.83
1462	end dive: TARGET_DEPTH_EXCEEDED
state	1462	begin apogee
1466	-0.13	0.0	3190	2153	3270	3408	180.8	-12.6	214	1557	0.35	0.00	87.18	0.731	10246	0.147	0.000	3304	2153	2857	2827	2887	0	0	0	0	0	0	26.40	28.83	24.80
1558	end apogee: CONTROL_FINISHED_OK
state	1558	begin climb
1560	0.51	117.2	3304	2153	2827	2887	184.9	0.0	223	1660	0.65	2.38	91.18	0.704	10500	0.123	0.050	3511	3574	2378	2413	2343	0	0	0	0	0	0	25.27	24.84	24.32
1702	0.51	117.2	3511	3574	2408	2342	174.2	10.6	237	1706	0.00	2.25	0.00	0.000	1030	0.000	0.037	3519	2173	2374	2407	2342	0	0	0	0	0	0	28.83	25.25	28.83
1827	0.51	117.2	3519	2165	2407	2339	160.9	9.3	249	1831	0.00	2.22	0.00	0.000	516	0.000	0.049	3530	745	2373	2408	2339	0	0	0	0	0	0	28.83	25.65	28.83
1883	0.51	117.2	3530	745	2407	2339	155.1	10.5	254	1892	0.00	2.20	0.00	0.000	1030	0.000	0.035	3530	2170	2372	2407	2338	0	0	0	0	0	0	28.83	25.77	28.83
2012	0.51	117.2	3529	2171	2407	2337	139.8	12.4	267	2013	0.00	0.00	0.00	0.000	6	0.000	0.000	3530	2171	2372	2407	2338	0	0	0	0	0	0	28.83	28.83	28.83
2132	0.51	117.2	3530	2171	2406	2337	126.9	10.7	279	2136	0.00	2.20	0.00	0.000	260	0.000	0.055	3530	3564	2372	2407	2337	0	0	0	0	0	0	28.83	26.02	28.83
2158	0.51	117.2	3530	3564	2404	2337	123.6	11.9	281	2162	0.00	2.20	0.00	0.000	1030	0.000	0.043	3538	2155	2370	2404	2337	0	0	0	0	0	0	28.83	26.06	28.83
2283	0.51	117.2	3538	2155	2404	2337	109.6	10.9	293	2287	0.00	2.15	0.00	0.000	516	0.000	0.050	3547	753	2371	2405	2337	0	0	0	0	0	0	28.83	26.13	28.83
2361	0.51	117.2	3547	753	2405	2337	101.5	10.5	300	2369	0.00	2.20	0.00	0.000	1030	0.000	0.038	3547	2163	2371	2405	2337	0	0	0	0	0	0	28.83	26.19	28.83
2489	0.51	117.2	3547	2164	2405	2336	87.1	10.6	324	2494	0.00	0.00	0.00	0.000	6	0.000	0.000	3547	2164	2371	2405	2337	0	0	0	0	0	0	28.83	28.83	28.83
2555	0.51	117.2	2752	2161	2371	2332	79.4	11.6	337	2562	0.00	0.00	0.00	0.000	6	0.000	0.000	3547	2164	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
2624	0.51	117.2	3547	2164	2404	2337	71.6	11.4	350	2630	0.00	2.17	0.00	0.000	260	0.000	0.055	3547	3568	2371	2405	2337	0	0	0	0	0	0	28.83	26.27	28.83
2662	0.51	117.2	3547	3568	2403	2336	66.4	13.7	357	2669	0.00	2.17	0.00	0.000	1030	0.000	0.041	3556	2152	2370	2403	2337	0	0	0	0	0	0	28.83	26.30	28.83
2731	0.51	117.2	3556	2151	2403	2337	57.6	12.3	370	2738	0.00	2.12	0.00	0.000	516	0.000	0.050	3566	755	2370	2404	2337	0	0	0	0	0	0	28.83	26.31	28.83
2764	0.51	117.2	3565	754	2404	2337	53.4	12.8	376	2771	0.00	2.15	0.00	0.000	1030	0.000	0.037	3565	2174	2370	2404	2337	0	0	0	0	0	0	28.83	26.34	28.83
2832	0.51	117.2	3565	2173	2404	2337	44.2	13.5	389	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2173	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
2870	0.51	117.2	3565	2173	2404	2337	39.2	13.6	396	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2173	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
2906	0.51	117.2	2784	2171	2370	2332	34.3	13.4	403	2912	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2173	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
2944	0.51	117.2	3565	2173	2404	2337	29.2	14.6	410	2950	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2174	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
2980	0.51	117.2	2784	2172	2370	2332	23.8	14.9	417	2988	0.00	2.20	0.00	0.000	516	0.000	0.051	3574	754	2370	2404	2337	0	0	0	0	0	0	28.83	26.36	28.83
3019	0.51	117.2	3574	754	2404	2336	18.6	13.4	424	3026	0.10	2.15	0.00	0.000	5126	0.168	0.037	3549	2176	2370	2404	2337	0	0	0	0	0	0	26.29	26.40	28.83
3057	0.51	117.2	2736	2175	2370	2332	13.4	13.2	431	3063	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2176	2370	2404	2337	0	0	0	0	0	0	28.83	28.83	28.83
3094	0.51	117.2	3549	2176	2404	2337	8.8	12.3	438	3101	0.00	2.15	0.00	0.000	260	0.000	0.053	3549	3568	2370	2404	2337	0	0	0	0	0	0	28.83	26.38	28.83
3127	0.51	117.2	3549	3568	2401	2337	4.6	12.9	444	3134	0.00	2.15	0.00	0.000	1030	0.000	0.039	3557	2155	2369	2402	2336	0	0	0	0	0	0	28.83	26.41	28.83
3144	end climb: SURFACE_DEPTH_REACHED
state	3144	begin surface coast
3171	end surface coast: CONTROL_FINISHED_OK
state	3171	begin surface