Glider dive log

Shilshole 07Aug13 * SG201 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 201 HD_C 9.9999997e-06 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 1 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 7 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 90

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 49 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 280 R_STBD_OVSHOOT 45 XPDR_VALID 1

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 1 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 1.5 INT_PRESSURE_YINT -1.28

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 3101 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 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 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 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -475.06995 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2985 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -68.747383 SEABIRD_T_J 3.3535807e-06

MASS 51667 PITCH_GAIN 19.5 PRESSURE_SLOPE 0.000115772 SEABIRD_C_G -9.7607336

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408599

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0038379999 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.01025 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 280

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 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 19.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3915 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 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 1

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038379999 PRESSURE_SLOPE 0.000115772 T_EPIRB 0

CALL_TRIES 5 HD_B 0.01025 PRESSURE_YINT -68.747383 T_GPS 15

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -475.06995

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 201 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_YINT -1.28 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2985 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 1.5 UNCOM_BLEED 60

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 3101 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51667 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 49 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 45 VBD_MIN 500

DEVICE4 -1 MISSION 1 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 7 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019408599 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 3.3535807e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 070813,221857,4743.479,-12224.217,36,1.0,36,16.3 TGT_NAME NE

_CALLS 1 TGT_LATLONG 4744.200,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.016,0.190

_SM_DEPTHo 1.12 KALMAN_X -270.6,171.0,57.5,796.9,-215.1

_SM_ANGLEo -67.5 KALMAN_Y -1671.8,195.6,82.6,2634.2,-1056.9

GPS2 070813,222312,4743.413,-12224.219,5,1.0,5,16.3 MHEAD_RNG_PITCHd_Wd 348.5,1711,-19.8,-8.000,-22.77,1677

SPEED_LIMITS 0.139,0.191 D_GRID 173

Post-dive calculations and measurements:

FINISH 0.4,1.009196 _24V_AH 24.2,0.474

SM_CCo 3651,58.80,0.135,0,0,1957,280.13 _10V_AH 10.6,0.339

SM_GC 1.80,8.12,2.12,58.80,0.047,0.034,0.135,192,1985,1957,-8.64,1.27,280.13,0,0,0,0,0,0,26.91,26.94,26.58 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12225.08,070813,212136 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 323020

HUMID 52.24 DATA_FILE_SIZE 20063,691

INTERNAL_PRESSURE 8.85711 CAP_FILE_SIZE 78453,0

TCM_TEMP 18.60 CFSIZE 260034560,256532480

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 90.6,7.0 GPS 070813,232634,4743.331,-12224.334,3,1.4,3,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 106.68 SBE_CT 461 23 259.58

Roll_motor 54 58 77.97 nil 0 0 0.00

VBD_pump_during_apogee 159 503 1938.39 nil 0 0 0.00

VBD_pump_during_surface 58 134 191.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 12 7.33 nil 0 0 0.00

Iridium_during_connect 32 160 124.88 nil 0 0 0.00

Iridium_during_xfer 134 223 727.45 nil 0 0 0.00

Transponder_ping 0 420 5.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 28 1.77

TT8 1562 15 260.26

LPSleep 805 2 18.70

TT8_Active 361 15 60.26

TT8_Sampling 1198 44 570.74

TT8_CF8 52 50 27.80

TT8_Kalman 33 67 23.74

Analog_circuits 920 15 146.41

GPS_charging 0 0 0.00

Compass 992 8 86.68

RAFOS 0 0 0.00

Transponder 5 30 1.73

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.12 -88.0 193 1955 1884 1883 0.0 0.0 0 52 0.00 0.00 -34.40 0.000 16386 0.000 0.000 193 1955 2773 2791 2755 0 0 0 0 0 0 28.83 28.83 28.83

54 -1.12 -88.0 193 1955 2791 2755 2.2 -4.8 6 95 9.10 2.05 -23.95 0.000 18948 0.225 0.059 2623 594 3458 3492 3425 0 0 0 0 0 0 26.39 26.63 26.96

116 -1.12 -88.0 2623 594 3493 3425 4.9 -9.1 17 123 0.00 2.08 0.00 0.000 1030 0.000 0.032 2615 2006 3459 3493 3425 0 0 0 0 0 0 28.83 26.67 28.83

185 -1.12 -88.0 2615 2006 3493 3426 12.6 -12.9 30 190 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2006 3459 3493 3425 0 0 0 0 0 0 28.83 28.83 28.83

252 -1.12 -88.0 2615 2006 3494 3425 21.1 -13.3 43 258 0.00 2.12 0.00 0.000 260 0.000 0.050 2604 3395 3459 3493 3426 0 0 0 0 0 0 28.83 26.71 28.83

310 -1.12 -88.0 2604 3394 3494 3426 29.4 -14.0 54 316 0.00 2.10 0.00 0.000 1030 0.000 0.033 2604 1975 3459 3493 3426 0 0 0 0 0 0 28.83 26.79 28.83

378 -1.12 -88.0 2604 1974 3493 3426 38.4 -12.5 67 384 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 1974 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83

445 -1.12 -88.0 2604 1974 3493 3426 47.2 -12.9 80 451 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 1974 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83

572 -1.12 -88.0 2604 1974 3493 3426 64.1 -13.0 105 579 0.00 2.17 0.00 0.000 260 0.000 0.050 2593 3394 3460 3494 3426 0 0 0 0 0 0 28.83 26.83 28.83

711 -1.12 -88.0 2593 3395 3493 3427 81.4 -11.5 132 718 0.12 2.08 0.00 0.000 3078 0.170 0.033 2625 1979 3460 3494 3426 0 0 0 0 0 0 26.74 26.92 28.83

842 -1.12 -88.0 2625 1979 3493 3427 95.2 -9.9 157 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1979 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83

969 -1.12 -88.0 2625 1979 3493 3427 108.4 -9.4 182 976 0.00 2.17 0.00 0.000 260 0.000 0.049 2616 3409 3460 3493 3427 0 0 0 0 0 0 28.83 26.91 28.83

1073 -1.12 -88.0 2616 3409 3493 3427 119.0 -9.7 202 1081 0.00 2.10 0.00 0.000 1030 0.000 0.033 2617 1978 3460 3493 3427 0 0 0 0 0 0 28.83 26.98 28.83

1202 -1.12 -88.0 2616 1978 3494 3427 131.7 -9.3 227 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 1978 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83

1330 -1.12 -88.0 2616 1978 3493 3427 146.0 -11.9 252 1337 0.00 2.17 0.00 0.000 260 0.000 0.050 2605 3408 3460 3493 3427 0 0 0 0 0 0 28.83 26.97 28.83

1388 -1.12 -88.0 2605 3408 3493 3427 152.5 -11.1 263 1395 0.00 2.10 0.00 0.000 1030 0.000 0.034 2606 1974 3459 3493 3426 0 0 0 0 0 0 28.83 27.03 28.83

1517 -1.12 -88.0 2605 1974 3493 3427 166.3 -10.9 288 1523 0.00 2.17 0.00 0.000 260 0.000 0.050 2594 3405 3460 3493 3427 0 0 0 0 0 0 28.83 26.98 28.83

1574 end dive: TARGET_DEPTH_EXCEEDED

state 1574 begin apogee

1579 -0.26 0.0 2595 1988 3493 3427 173.3 -13.0 299 1653 0.90 0.00 64.93 0.496 10244 0.133 0.000 2894 1984 3093 3143 3044 0 0 0 0 0 0 26.86 28.83 25.89

1654 end apogee: CONTROL_FINISHED_OK

state 1654 begin climb

1655 1.12 88.0 2894 1984 3142 3042 176.5 0.0 312 1722 1.23 0.00 62.78 0.503 11270 0.083 0.000 3344 1984 2740 2775 2705 0 0 0 0 0 0 26.33 28.83 25.46

1845 1.12 88.0 3344 1984 2764 2693 161.1 10.7 348 1852 0.00 2.10 0.00 0.000 516 0.000 0.046 3353 611 2728 2764 2693 0 0 0 0 0 0 28.83 26.31 28.83

1989 1.12 88.0 3353 611 2764 2693 145.4 10.8 376 1996 0.00 2.05 0.00 0.000 1030 0.000 0.033 3353 2000 2728 2764 2693 0 0 0 0 0 0 28.83 26.53 28.83

2118 1.13 93.9 3353 1999 2764 2693 134.5 7.6 401 2124 0.00 0.00 1.05 0.203 8198 0.000 0.000 3353 2000 2718 2757 2679 0 0 0 0 0 0 28.83 28.83 26.46

2246 1.13 93.9 3353 2000 2767 2687 122.5 9.7 426 2254 0.00 2.12 0.95 0.214 8452 0.000 0.047 3353 3395 2719 2759 2680 0 0 0 0 0 0 28.83 26.67 26.55

2305 1.13 93.9 3353 3395 2766 2687 116.1 10.5 437 2313 0.00 2.05 0.95 0.214 9222 0.000 0.035 3356 2011 2717 2756 2678 0 0 0 0 0 0 28.83 26.74 26.57

2435 1.13 93.9 2384 2009 2723 2680 104.1 9.1 462 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2010 2726 2766 2687 0 0 0 0 0 0 28.83 28.83 28.83

2563 1.13 98.4 3356 2011 2766 2687 94.1 7.7 487 2569 0.00 0.00 2.62 0.389 8198 0.000 0.000 3356 2010 2703 2744 2663 0 0 0 0 0 0 28.83 28.83 25.91

2692 1.13 98.4 2368 2009 2719 2672 82.4 10.6 512 2700 0.00 2.17 1.88 0.197 8708 0.000 0.045 3366 596 2707 2748 2666 0 0 0 0 0 0 28.83 26.84 26.50

2751 1.13 98.4 3366 596 2760 2679 76.1 10.3 523 2759 0.00 2.10 2.00 0.203 9222 0.000 0.033 3367 2025 2702 2742 2662 0 0 0 0 0 0 28.83 26.87 24.18

2880 1.13 98.4 2432 2022 2720 2672 62.5 9.8 548 2887 0.00 0.00 1.80 0.199 8198 0.000 0.000 3367 2025 2703 2745 2662 0 0 0 0 0 0 28.83 28.83 26.53

3008 1.13 98.4 3366 2025 2759 2677 51.3 8.4 573 3016 0.00 2.15 1.73 0.195 8452 0.000 0.050 3367 3398 2704 2745 2664 0 0 0 0 0 0 28.83 26.87 26.60

3068 1.13 98.4 3366 3398 2758 2678 46.3 8.5 584 3075 0.00 2.03 1.70 0.191 9222 0.000 0.034 3374 2012 2701 2741 2662 0 0 0 0 0 0 28.83 26.94 26.64

3197 1.13 98.4 3374 2012 2758 2677 36.0 8.1 609 3204 0.00 0.00 1.80 0.197 8198 0.000 0.000 3375 2012 2701 2742 2661 0 0 0 0 0 0 28.83 28.83 26.59

3266 1.13 98.4 3374 2012 2755 2674 30.4 8.2 622 3273 0.00 2.10 1.42 0.197 8708 0.000 0.044 3384 604 2703 2744 2662 0 0 0 0 0 0 28.83 26.92 26.70

3320 1.13 98.4 3383 604 2755 2674 26.0 8.1 632 3328 0.12 2.08 1.38 0.194 13318 0.196 0.033 3354 2034 2700 2741 2660 0 0 0 0 0 0 26.74 26.96 26.72

3390 1.15 110.1 3354 2034 2755 2673 20.9 7.3 645 3409 0.00 2.08 12.15 0.409 8452 0.000 0.047 3354 3405 2644 2685 2604 0 0 0 0 0 0 28.83 26.82 26.41

3440 1.15 110.1 3354 3405 2682 2599 17.0 8.6 654 3447 0.00 2.03 0.00 0.000 1030 0.000 0.034 3363 2029 2640 2682 2599 0 0 0 0 0 0 28.83 26.88 28.83

3509 1.15 110.1 3362 2028 2682 2599 11.3 9.2 667 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2029 2640 2682 2599 0 0 0 0 0 0 28.83 28.83 28.83

3576 1.15 110.1 3362 2028 2682 2599 5.3 8.4 680 3583 0.00 2.08 0.00 0.000 260 0.000 0.050 3362 3394 2640 2682 2599 0 0 0 0 0 0 28.83 26.87 28.83

3603 end climb: SURFACE_DEPTH_REACHED

state 3603 begin surface coast

3634 end surface coast: CONTROL_FINISHED_OK

state 3634 begin surface

ID	201	HD_C	9.9999997e-06	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	1	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	7	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	90
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	49	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	280	R_STBD_OVSHOOT	45	XPDR_VALID	1
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	1	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	1.5	INT_PRESSURE_YINT	-1.28
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	3101	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	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	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	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-475.06995	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2985	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-68.747383	SEABIRD_T_J	3.3535807e-06
MASS	51667	PITCH_GAIN	19.5	PRESSURE_SLOPE	0.000115772	SEABIRD_C_G	-9.7607336
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408599
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0038379999	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.01025	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	070813,221857,4743.479,-12224.217,36,1.0,36,16.3	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	4744.200,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.016,0.190
_SM_DEPTHo	1.12	KALMAN_X	-270.6,171.0,57.5,796.9,-215.1
_SM_ANGLEo	-67.5	KALMAN_Y	-1671.8,195.6,82.6,2634.2,-1056.9
GPS2	070813,222312,4743.413,-12224.219,5,1.0,5,16.3	MHEAD_RNG_PITCHd_Wd	348.5,1711,-19.8,-8.000,-22.77,1677
SPEED_LIMITS	0.139,0.191	D_GRID	173

FINISH	0.4,1.009196	_24V_AH	24.2,0.474
SM_CCo	3651,58.80,0.135,0,0,1957,280.13	_10V_AH	10.6,0.339
SM_GC	1.80,8.12,2.12,58.80,0.047,0.034,0.135,192,1985,1957,-8.64,1.27,280.13,0,0,0,0,0,0,26.91,26.94,26.58	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12225.08,070813,212136	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	323020
HUMID	52.24	DATA_FILE_SIZE	20063,691
INTERNAL_PRESSURE	8.85711	CAP_FILE_SIZE	78453,0
TCM_TEMP	18.60	CFSIZE	260034560,256532480
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	90.6,7.0	GPS	070813,232634,4743.331,-12224.334,3,1.4,3,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	106.68	SBE_CT	461	23	259.58
Roll_motor	54	58	77.97	nil	0	0	0.00
VBD_pump_during_apogee	159	503	1938.39	nil	0	0	0.00
VBD_pump_during_surface	58	134	191.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	12	7.33	nil	0	0	0.00
Iridium_during_connect	32	160	124.88	nil	0	0	0.00
Iridium_during_xfer	134	223	727.45	nil	0	0	0.00
Transponder_ping	0	420	5.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	28	1.77
TT8	1562	15	260.26
LPSleep	805	2	18.70
TT8_Active	361	15	60.26
TT8_Sampling	1198	44	570.74
TT8_CF8	52	50	27.80
TT8_Kalman	33	67	23.74
Analog_circuits	920	15	146.41
GPS_charging	0	0	0.00
Compass	992	8	86.68
RAFOS	0	0	0.00
Transponder	5	30	1.73

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.12	-88.0	193	1955	1884	1883	0.0	0.0	0	52	0.00	0.00	-34.40	0.000	16386	0.000	0.000	193	1955	2773	2791	2755	0	0	0	0	0	0	28.83	28.83	28.83
54	-1.12	-88.0	193	1955	2791	2755	2.2	-4.8	6	95	9.10	2.05	-23.95	0.000	18948	0.225	0.059	2623	594	3458	3492	3425	0	0	0	0	0	0	26.39	26.63	26.96
116	-1.12	-88.0	2623	594	3493	3425	4.9	-9.1	17	123	0.00	2.08	0.00	0.000	1030	0.000	0.032	2615	2006	3459	3493	3425	0	0	0	0	0	0	28.83	26.67	28.83
185	-1.12	-88.0	2615	2006	3493	3426	12.6	-12.9	30	190	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2006	3459	3493	3425	0	0	0	0	0	0	28.83	28.83	28.83
252	-1.12	-88.0	2615	2006	3494	3425	21.1	-13.3	43	258	0.00	2.12	0.00	0.000	260	0.000	0.050	2604	3395	3459	3493	3426	0	0	0	0	0	0	28.83	26.71	28.83
310	-1.12	-88.0	2604	3394	3494	3426	29.4	-14.0	54	316	0.00	2.10	0.00	0.000	1030	0.000	0.033	2604	1975	3459	3493	3426	0	0	0	0	0	0	28.83	26.79	28.83
378	-1.12	-88.0	2604	1974	3493	3426	38.4	-12.5	67	384	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	1974	3459	3493	3426	0	0	0	0	0	0	28.83	28.83	28.83
445	-1.12	-88.0	2604	1974	3493	3426	47.2	-12.9	80	451	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	1974	3459	3493	3426	0	0	0	0	0	0	28.83	28.83	28.83
572	-1.12	-88.0	2604	1974	3493	3426	64.1	-13.0	105	579	0.00	2.17	0.00	0.000	260	0.000	0.050	2593	3394	3460	3494	3426	0	0	0	0	0	0	28.83	26.83	28.83
711	-1.12	-88.0	2593	3395	3493	3427	81.4	-11.5	132	718	0.12	2.08	0.00	0.000	3078	0.170	0.033	2625	1979	3460	3494	3426	0	0	0	0	0	0	26.74	26.92	28.83
842	-1.12	-88.0	2625	1979	3493	3427	95.2	-9.9	157	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	1979	3459	3493	3426	0	0	0	0	0	0	28.83	28.83	28.83
969	-1.12	-88.0	2625	1979	3493	3427	108.4	-9.4	182	976	0.00	2.17	0.00	0.000	260	0.000	0.049	2616	3409	3460	3493	3427	0	0	0	0	0	0	28.83	26.91	28.83
1073	-1.12	-88.0	2616	3409	3493	3427	119.0	-9.7	202	1081	0.00	2.10	0.00	0.000	1030	0.000	0.033	2617	1978	3460	3493	3427	0	0	0	0	0	0	28.83	26.98	28.83
1202	-1.12	-88.0	2616	1978	3494	3427	131.7	-9.3	227	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	1978	3459	3493	3426	0	0	0	0	0	0	28.83	28.83	28.83
1330	-1.12	-88.0	2616	1978	3493	3427	146.0	-11.9	252	1337	0.00	2.17	0.00	0.000	260	0.000	0.050	2605	3408	3460	3493	3427	0	0	0	0	0	0	28.83	26.97	28.83
1388	-1.12	-88.0	2605	3408	3493	3427	152.5	-11.1	263	1395	0.00	2.10	0.00	0.000	1030	0.000	0.034	2606	1974	3459	3493	3426	0	0	0	0	0	0	28.83	27.03	28.83
1517	-1.12	-88.0	2605	1974	3493	3427	166.3	-10.9	288	1523	0.00	2.17	0.00	0.000	260	0.000	0.050	2594	3405	3460	3493	3427	0	0	0	0	0	0	28.83	26.98	28.83
1574	end dive: TARGET_DEPTH_EXCEEDED
state	1574	begin apogee
1579	-0.26	0.0	2595	1988	3493	3427	173.3	-13.0	299	1653	0.90	0.00	64.93	0.496	10244	0.133	0.000	2894	1984	3093	3143	3044	0	0	0	0	0	0	26.86	28.83	25.89
1654	end apogee: CONTROL_FINISHED_OK
state	1654	begin climb
1655	1.12	88.0	2894	1984	3142	3042	176.5	0.0	312	1722	1.23	0.00	62.78	0.503	11270	0.083	0.000	3344	1984	2740	2775	2705	0	0	0	0	0	0	26.33	28.83	25.46
1845	1.12	88.0	3344	1984	2764	2693	161.1	10.7	348	1852	0.00	2.10	0.00	0.000	516	0.000	0.046	3353	611	2728	2764	2693	0	0	0	0	0	0	28.83	26.31	28.83
1989	1.12	88.0	3353	611	2764	2693	145.4	10.8	376	1996	0.00	2.05	0.00	0.000	1030	0.000	0.033	3353	2000	2728	2764	2693	0	0	0	0	0	0	28.83	26.53	28.83
2118	1.13	93.9	3353	1999	2764	2693	134.5	7.6	401	2124	0.00	0.00	1.05	0.203	8198	0.000	0.000	3353	2000	2718	2757	2679	0	0	0	0	0	0	28.83	28.83	26.46
2246	1.13	93.9	3353	2000	2767	2687	122.5	9.7	426	2254	0.00	2.12	0.95	0.214	8452	0.000	0.047	3353	3395	2719	2759	2680	0	0	0	0	0	0	28.83	26.67	26.55
2305	1.13	93.9	3353	3395	2766	2687	116.1	10.5	437	2313	0.00	2.05	0.95	0.214	9222	0.000	0.035	3356	2011	2717	2756	2678	0	0	0	0	0	0	28.83	26.74	26.57
2435	1.13	93.9	2384	2009	2723	2680	104.1	9.1	462	2441	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2010	2726	2766	2687	0	0	0	0	0	0	28.83	28.83	28.83
2563	1.13	98.4	3356	2011	2766	2687	94.1	7.7	487	2569	0.00	0.00	2.62	0.389	8198	0.000	0.000	3356	2010	2703	2744	2663	0	0	0	0	0	0	28.83	28.83	25.91
2692	1.13	98.4	2368	2009	2719	2672	82.4	10.6	512	2700	0.00	2.17	1.88	0.197	8708	0.000	0.045	3366	596	2707	2748	2666	0	0	0	0	0	0	28.83	26.84	26.50
2751	1.13	98.4	3366	596	2760	2679	76.1	10.3	523	2759	0.00	2.10	2.00	0.203	9222	0.000	0.033	3367	2025	2702	2742	2662	0	0	0	0	0	0	28.83	26.87	24.18
2880	1.13	98.4	2432	2022	2720	2672	62.5	9.8	548	2887	0.00	0.00	1.80	0.199	8198	0.000	0.000	3367	2025	2703	2745	2662	0	0	0	0	0	0	28.83	28.83	26.53
3008	1.13	98.4	3366	2025	2759	2677	51.3	8.4	573	3016	0.00	2.15	1.73	0.195	8452	0.000	0.050	3367	3398	2704	2745	2664	0	0	0	0	0	0	28.83	26.87	26.60
3068	1.13	98.4	3366	3398	2758	2678	46.3	8.5	584	3075	0.00	2.03	1.70	0.191	9222	0.000	0.034	3374	2012	2701	2741	2662	0	0	0	0	0	0	28.83	26.94	26.64
3197	1.13	98.4	3374	2012	2758	2677	36.0	8.1	609	3204	0.00	0.00	1.80	0.197	8198	0.000	0.000	3375	2012	2701	2742	2661	0	0	0	0	0	0	28.83	28.83	26.59
3266	1.13	98.4	3374	2012	2755	2674	30.4	8.2	622	3273	0.00	2.10	1.42	0.197	8708	0.000	0.044	3384	604	2703	2744	2662	0	0	0	0	0	0	28.83	26.92	26.70
3320	1.13	98.4	3383	604	2755	2674	26.0	8.1	632	3328	0.12	2.08	1.38	0.194	13318	0.196	0.033	3354	2034	2700	2741	2660	0	0	0	0	0	0	26.74	26.96	26.72
3390	1.15	110.1	3354	2034	2755	2673	20.9	7.3	645	3409	0.00	2.08	12.15	0.409	8452	0.000	0.047	3354	3405	2644	2685	2604	0	0	0	0	0	0	28.83	26.82	26.41
3440	1.15	110.1	3354	3405	2682	2599	17.0	8.6	654	3447	0.00	2.03	0.00	0.000	1030	0.000	0.034	3363	2029	2640	2682	2599	0	0	0	0	0	0	28.83	26.88	28.83
3509	1.15	110.1	3362	2028	2682	2599	11.3	9.2	667	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2029	2640	2682	2599	0	0	0	0	0	0	28.83	28.83	28.83
3576	1.15	110.1	3362	2028	2682	2599	5.3	8.4	680	3583	0.00	2.08	0.00	0.000	260	0.000	0.050	3362	3394	2640	2682	2599	0	0	0	0	0	0	28.83	26.87	28.83
3603	end climb: SURFACE_DEPTH_REACHED
state	3603	begin surface coast
3634	end surface coast: CONTROL_FINISHED_OK
state	3634	begin surface