Glider dive log

Shilshole 14Jan14 * SG601 * Dive index * Mission links * Dive 8 * 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 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2190 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4743 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12223.5 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 300 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 32 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 32 XPDR_VALID 2

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.25799999

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2857 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 86 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 180 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -1501.1359 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 -1501.1359

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 ID 601 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 0 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT -0.25799999 RHO 1.0237 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3370 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2190 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2857 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3866 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51614 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 232 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 32 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 8 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 150114,003954,4743.808,-12224.673,42,1.0,42,16.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.049,0.110

_SM_DEPTHo 1.31 KALMAN_X -748.9,-465.9,-86.0,1383.8,34.7

_SM_ANGLEo -80.9 KALMAN_Y -1814.2,-598.8,-155.4,4466.8,-426.9

GPS2 150114,004708,4743.828,-12224.624,4,0.8,4,16.6 MHEAD_RNG_PITCHd_Wd 264.3,257,-26.7,-6.977,-30.00,806

SPEED_LIMITS 0.121,0.208 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.3,1.022767 _10V_AH 10.5,0.266

SM_CCo 2902,75.75,0.056,0,0,1837,250.21 FG_AHR_24Vo 0.000

SM_GC 1.47,9.15,0.08,75.75,0.051,0.122,0.056,208,2258,1837,-9.81,-1.13,250.21,0,0,0,0,0,0,26.34,26.40,26.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12340.51,140114,232324 MEM 323608

TT8_MAMPS 0.030709,0.030709 DATA_FILE_SIZE 16855,409

HUMID 43.69 CAP_FILE_SIZE 75767,0

INTERNAL_PRESSURE 8.9611 CFSIZE 2097086464,2091712512

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.116, 20.5,1

ALTIM_BOTTOM_PING 115.2,7.2 GPS 150114,013901,4744.061,-12224.886,38,2.0,38,16.6

_24V_AH 24.7,0.688

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 246 139.33 SBE_CT 273 24 162.32

Roll_motor 74 121 225.25 nil 0 0 0.00

VBD_pump_during_apogee 109 732 1973.31 nil 0 0 0.00

VBD_pump_during_surface 75 55 104.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 73.02 nil 0 0 0.00

Iridium_during_connect 35 160 141.59 nil 0 0 0.00

Iridium_during_xfer 294 223 1621.95 nil 0 0 0.00

Transponder_ping 2 420 25.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.67

TT8 1072 14 168.46

LPSleep 891 2 20.50

TT8_Active 349 14 52.18

TT8_Sampling 1084 37 426.39

TT8_CF8 36 47 17.84

TT8_Kalman 33 59 20.62

Analog_circuits 787 12 99.27

GPS_charging 0 0 0.00

Compass 693 15 114.55

RAFOS 0 0 0.00

Transponder 20 30 6.33

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 -0.75 -36.9 199 2254 1833 1765 0.0 0.0 0 66 0.00 0.00 -49.83 0.000 16390 0.000 0.000 199 2255 3008 2935 3082 0 0 0 0 0 0 28.83 28.83 26.34

68 -0.75 -42.3 199 2255 2935 3082 2.7 -6.3 9 86 11.55 0.00 -0.60 0.000 18438 0.241 0.000 3101 2241 3029 2962 3097 0 0 0 0 0 0 25.77 28.83 26.17

118 -0.77 -56.7 2112 2240 2941 3093 6.0 -5.1 18 125 0.00 2.22 -1.48 0.000 16900 0.000 0.063 3103 825 3088 3029 3147 0 0 0 0 0 0 28.83 26.03 26.27

131 -0.79 -72.0 3102 826 3029 3146 6.6 -5.0 20 140 0.00 2.25 -1.55 0.000 17414 0.000 0.048 3094 2256 3151 3092 3211 0 0 0 0 0 0 28.83 26.04 26.27

171 -0.79 -72.0 3093 2256 3093 3211 9.6 -9.0 27 177 0.00 2.20 0.00 0.000 260 0.000 0.057 3083 3658 3152 3092 3212 0 0 0 0 0 0 28.83 26.06 28.83

259 -0.79 -72.0 3083 3657 3093 3213 20.3 -11.5 44 267 0.08 2.20 0.00 0.000 3078 0.209 0.044 3096 2251 3152 3092 3213 0 0 0 0 0 0 26.03 26.15 28.83

298 -0.79 -72.0 3095 2251 3093 3213 24.6 -11.0 51 305 0.00 2.25 0.00 0.000 260 0.000 0.057 3087 3663 3152 3092 3212 0 0 0 0 0 0 28.83 26.15 28.83

341 -0.79 -72.0 3086 3663 3093 3213 29.8 -12.2 59 347 0.00 2.20 0.00 0.000 1030 0.000 0.043 3087 2250 3153 3093 3213 0 0 0 0 0 0 28.83 26.20 28.83

378 -0.79 -72.0 2112 2248 3074 3210 34.5 -12.4 66 384 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2250 3153 3093 3213 0 0 0 0 0 0 28.83 28.83 28.83

416 -0.79 -72.0 3086 2250 3092 3213 39.0 -11.7 73 422 0.00 2.15 0.00 0.000 516 0.000 0.050 3087 837 3153 3093 3213 0 0 0 0 0 0 28.83 26.22 28.83

443 -0.79 -72.0 2096 836 3074 3210 42.4 -12.2 78 450 0.10 2.20 0.00 0.000 3078 0.228 0.048 3095 2251 3152 3092 3213 0 0 0 0 0 0 26.09 26.25 28.83

482 -0.79 -72.0 3096 2252 3092 3213 47.4 -13.2 85 489 0.00 2.20 0.00 0.000 516 0.000 0.053 3096 837 3153 3093 3213 0 0 0 0 0 0 28.83 26.25 28.83

520 -0.79 -72.0 3096 836 3093 3213 52.6 -13.4 92 527 0.00 2.20 0.00 0.000 1030 0.000 0.047 3087 2254 3153 3093 3213 0 0 0 0 0 0 28.83 26.27 28.83

589 -0.79 -72.0 3087 2254 3093 3213 61.2 -11.8 105 595 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2254 3153 3093 3213 0 0 0 0 0 0 28.83 28.83 28.83

656 -0.79 -72.0 2112 2253 3074 3210 68.3 -10.0 118 662 0.00 2.20 0.00 0.000 516 0.000 0.052 3087 829 3153 3093 3213 0 0 0 0 0 0 28.83 26.32 28.83

760 -0.79 -72.0 2048 828 3073 3210 80.3 -12.9 138 767 0.10 2.20 0.00 0.000 3078 0.224 0.046 3097 2256 3153 3093 3213 0 0 0 0 0 0 26.21 26.36 28.83

829 -0.79 -72.0 3097 2256 3093 3213 88.8 -11.4 151 836 0.00 2.20 0.00 0.000 516 0.000 0.050 3098 826 3153 3093 3213 0 0 0 0 0 0 28.83 26.36 28.83

923 -0.79 -72.0 3097 826 3092 3213 98.7 -9.9 169 930 0.00 2.20 0.00 0.000 1030 0.000 0.047 3089 2251 3153 3093 3213 0 0 0 0 0 0 28.83 26.40 28.83

993 -0.79 -72.0 3089 2252 3093 3213 105.1 -9.1 177 1001 0.00 2.17 0.00 0.000 260 0.000 0.055 3077 3659 3153 3093 3213 0 0 0 0 0 0 28.83 26.39 28.83

1229 -0.79 -72.0 3077 3659 3093 3213 128.7 -9.9 200 1238 0.05 2.22 0.00 0.000 3078 0.181 0.041 3092 2239 3153 3093 3213 0 0 0 0 0 0 26.33 26.48 28.83

1357 -0.79 -72.0 3091 2239 3093 3213 140.9 -9.1 213 1361 0.00 2.10 0.00 0.000 516 0.000 0.048 3092 837 3153 3093 3213 0 0 0 0 0 0 28.83 26.48 28.83

1385 -0.79 -72.0 3092 837 3093 3213 143.2 -8.9 215 1394 0.03 2.22 0.00 0.000 3078 0.243 0.048 3090 2249 3153 3093 3213 0 0 0 0 0 0 26.36 26.49 28.83

1512 -0.79 -72.0 3090 2249 3093 3213 155.3 -9.3 228 1517 0.00 2.15 0.00 0.000 516 0.000 0.050 3090 841 3153 3093 3213 0 0 0 0 0 0 28.83 26.50 28.83

1598 -0.79 -72.0 3090 840 3093 3213 163.2 -9.6 236 1603 0.08 2.15 0.00 0.000 3078 0.246 0.044 3095 2250 3153 3093 3213 0 0 0 0 0 0 26.37 26.52 28.83

1723 -0.79 -72.0 3094 2251 3093 3213 173.0 -7.8 248 1727 0.00 2.15 0.00 0.000 260 0.000 0.054 3084 3655 3153 3093 3213 0 0 0 0 0 0 28.83 26.51 28.83

1807 end dive: TARGET_DEPTH_EXCEEDED

state 1807 begin apogee

1813 -0.13 0.0 3084 2186 3093 3213 180.6 -8.8 256 1872 0.75 0.00 54.05 0.732 10246 0.184 0.000 3303 2176 2856 2822 2891 0 0 0 0 0 0 26.36 28.83 25.20

1873 end apogee: CONTROL_FINISHED_OK

state 1873 begin climb

1874 0.79 72.0 3303 2176 2823 2891 182.8 0.0 262 1941 0.93 2.28 55.08 0.706 10756 0.125 0.044 3611 781 2562 2567 2558 0 0 0 0 0 0 25.66 25.21 24.68

1966 0.79 72.0 3611 781 2566 2558 173.2 15.0 271 1973 0.00 2.28 0.00 0.000 1030 0.000 0.038 3611 2187 2561 2566 2557 0 0 0 0 0 0 28.83 25.43 28.83

2092 0.79 72.0 3611 2188 2566 2556 150.5 15.6 284 2097 0.00 2.25 0.00 0.000 260 0.000 0.054 3611 3607 2561 2566 2556 0 0 0 0 0 0 28.83 25.75 28.83

2109 0.79 72.0 3610 3606 2566 2556 148.0 15.6 285 2117 0.00 2.22 0.00 0.000 1030 0.000 0.039 3621 2182 2561 2566 2556 0 0 0 0 0 0 28.83 25.81 28.83

2238 0.79 72.0 3620 2182 2566 2555 122.3 19.0 298 2242 0.00 2.25 0.00 0.000 260 0.000 0.052 3621 3598 2560 2566 2555 0 0 0 0 0 0 28.83 25.96 28.83

2264 0.79 72.0 3620 3599 2566 2555 117.0 20.0 300 2268 0.00 2.20 0.00 0.000 1030 0.000 0.038 3630 2184 2561 2566 2556 0 0 0 0 0 0 28.83 26.01 28.83

2389 0.79 72.0 3630 2184 2566 2556 92.3 18.9 316 2396 0.00 2.25 0.00 0.000 260 0.000 0.051 3631 3605 2561 2566 2556 0 0 0 0 0 0 28.83 26.08 28.83

2413 0.79 72.0 3630 3604 2565 2556 87.9 18.4 320 2421 0.00 2.17 0.00 0.000 1030 0.000 0.038 3641 2189 2560 2566 2555 0 0 0 0 0 0 28.83 26.13 28.83

2483 0.79 72.0 3640 2189 2565 2555 74.6 19.0 333 2489 0.00 2.12 0.00 0.000 516 0.000 0.046 3651 780 2560 2566 2555 0 0 0 0 0 0 28.83 26.15 28.83

2557 0.79 72.0 3651 779 2565 2556 60.7 18.6 347 2563 0.00 2.17 0.00 0.000 1030 0.000 0.037 3651 2206 2560 2565 2555 0 0 0 0 0 0 28.83 26.21 28.83

2625 0.79 72.0 3651 2206 2565 2556 48.1 17.3 360 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 3651 2206 2560 2565 2555 0 0 0 0 0 0 28.83 28.83 28.83

2662 0.79 72.0 3651 2206 2565 2555 41.3 18.0 367 2669 0.00 2.20 0.00 0.000 516 0.000 0.047 3661 775 2560 2565 2555 0 0 0 0 0 0 28.83 26.25 28.83

2730 0.79 72.0 3661 775 2565 2556 27.7 20.8 380 2738 0.10 2.15 0.00 0.000 5126 0.196 0.037 3641 2190 2560 2565 2555 0 0 0 0 0 0 26.15 26.29 28.83

2770 0.79 72.0 3640 2191 2565 2555 20.6 17.3 387 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 3641 2191 2560 2565 2555 0 0 0 0 0 0 28.83 28.83 28.83

2806 0.79 72.0 3640 2191 2565 2555 13.9 18.4 394 2812 0.00 0.00 0.00 0.000 6 0.000 0.000 3641 2191 2560 2565 2556 0 0 0 0 0 0 28.83 28.83 28.83

2843 0.79 72.0 3640 2191 2565 2555 6.8 18.9 401 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 3640 2191 2560 2565 2555 0 0 0 0 0 0 28.83 28.83 28.83

2869 end climb: SURFACE_DEPTH_REACHED

state 2869 begin surface coast

2886 end surface coast: CONTROL_FINISHED_OK

state 2886 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	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2190	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4743	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12223.5	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	300	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	32	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	32	XPDR_VALID	2
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.25799999
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2857	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	86	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	180	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-1501.1359	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	150114,003954,4743.808,-12224.673,42,1.0,42,16.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.049,0.110
_SM_DEPTHo	1.31	KALMAN_X	-748.9,-465.9,-86.0,1383.8,34.7
_SM_ANGLEo	-80.9	KALMAN_Y	-1814.2,-598.8,-155.4,4466.8,-426.9
GPS2	150114,004708,4743.828,-12224.624,4,0.8,4,16.6	MHEAD_RNG_PITCHd_Wd	264.3,257,-26.7,-6.977,-30.00,806
SPEED_LIMITS	0.121,0.208	D_GRID	180

FINISH	0.3,1.022767	_10V_AH	10.5,0.266
SM_CCo	2902,75.75,0.056,0,0,1837,250.21	FG_AHR_24Vo	0.000
SM_GC	1.47,9.15,0.08,75.75,0.051,0.122,0.056,208,2258,1837,-9.81,-1.13,250.21,0,0,0,0,0,0,26.34,26.40,26.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12340.51,140114,232324	MEM	323608
TT8_MAMPS	0.030709,0.030709	DATA_FILE_SIZE	16855,409
HUMID	43.69	CAP_FILE_SIZE	75767,0
INTERNAL_PRESSURE	8.9611	CFSIZE	2097086464,2091712512
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.116, 20.5,1
ALTIM_BOTTOM_PING	115.2,7.2	GPS	150114,013901,4744.061,-12224.886,38,2.0,38,16.6
_24V_AH	24.7,0.688

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	246	139.33	SBE_CT	273	24	162.32
Roll_motor	74	121	225.25	nil	0	0	0.00
VBD_pump_during_apogee	109	732	1973.31	nil	0	0	0.00
VBD_pump_during_surface	75	55	104.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	73.02	nil	0	0	0.00
Iridium_during_connect	35	160	141.59	nil	0	0	0.00
Iridium_during_xfer	294	223	1621.95	nil	0	0	0.00
Transponder_ping	2	420	25.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.67
TT8	1072	14	168.46
LPSleep	891	2	20.50
TT8_Active	349	14	52.18
TT8_Sampling	1084	37	426.39
TT8_CF8	36	47	17.84
TT8_Kalman	33	59	20.62
Analog_circuits	787	12	99.27
GPS_charging	0	0	0.00
Compass	693	15	114.55
RAFOS	0	0	0.00
Transponder	20	30	6.33

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	-0.75	-36.9	199	2254	1833	1765	0.0	0.0	0	66	0.00	0.00	-49.83	0.000	16390	0.000	0.000	199	2255	3008	2935	3082	0	0	0	0	0	0	28.83	28.83	26.34
68	-0.75	-42.3	199	2255	2935	3082	2.7	-6.3	9	86	11.55	0.00	-0.60	0.000	18438	0.241	0.000	3101	2241	3029	2962	3097	0	0	0	0	0	0	25.77	28.83	26.17
118	-0.77	-56.7	2112	2240	2941	3093	6.0	-5.1	18	125	0.00	2.22	-1.48	0.000	16900	0.000	0.063	3103	825	3088	3029	3147	0	0	0	0	0	0	28.83	26.03	26.27
131	-0.79	-72.0	3102	826	3029	3146	6.6	-5.0	20	140	0.00	2.25	-1.55	0.000	17414	0.000	0.048	3094	2256	3151	3092	3211	0	0	0	0	0	0	28.83	26.04	26.27
171	-0.79	-72.0	3093	2256	3093	3211	9.6	-9.0	27	177	0.00	2.20	0.00	0.000	260	0.000	0.057	3083	3658	3152	3092	3212	0	0	0	0	0	0	28.83	26.06	28.83
259	-0.79	-72.0	3083	3657	3093	3213	20.3	-11.5	44	267	0.08	2.20	0.00	0.000	3078	0.209	0.044	3096	2251	3152	3092	3213	0	0	0	0	0	0	26.03	26.15	28.83
298	-0.79	-72.0	3095	2251	3093	3213	24.6	-11.0	51	305	0.00	2.25	0.00	0.000	260	0.000	0.057	3087	3663	3152	3092	3212	0	0	0	0	0	0	28.83	26.15	28.83
341	-0.79	-72.0	3086	3663	3093	3213	29.8	-12.2	59	347	0.00	2.20	0.00	0.000	1030	0.000	0.043	3087	2250	3153	3093	3213	0	0	0	0	0	0	28.83	26.20	28.83
378	-0.79	-72.0	2112	2248	3074	3210	34.5	-12.4	66	384	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2250	3153	3093	3213	0	0	0	0	0	0	28.83	28.83	28.83
416	-0.79	-72.0	3086	2250	3092	3213	39.0	-11.7	73	422	0.00	2.15	0.00	0.000	516	0.000	0.050	3087	837	3153	3093	3213	0	0	0	0	0	0	28.83	26.22	28.83
443	-0.79	-72.0	2096	836	3074	3210	42.4	-12.2	78	450	0.10	2.20	0.00	0.000	3078	0.228	0.048	3095	2251	3152	3092	3213	0	0	0	0	0	0	26.09	26.25	28.83
482	-0.79	-72.0	3096	2252	3092	3213	47.4	-13.2	85	489	0.00	2.20	0.00	0.000	516	0.000	0.053	3096	837	3153	3093	3213	0	0	0	0	0	0	28.83	26.25	28.83
520	-0.79	-72.0	3096	836	3093	3213	52.6	-13.4	92	527	0.00	2.20	0.00	0.000	1030	0.000	0.047	3087	2254	3153	3093	3213	0	0	0	0	0	0	28.83	26.27	28.83
589	-0.79	-72.0	3087	2254	3093	3213	61.2	-11.8	105	595	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2254	3153	3093	3213	0	0	0	0	0	0	28.83	28.83	28.83
656	-0.79	-72.0	2112	2253	3074	3210	68.3	-10.0	118	662	0.00	2.20	0.00	0.000	516	0.000	0.052	3087	829	3153	3093	3213	0	0	0	0	0	0	28.83	26.32	28.83
760	-0.79	-72.0	2048	828	3073	3210	80.3	-12.9	138	767	0.10	2.20	0.00	0.000	3078	0.224	0.046	3097	2256	3153	3093	3213	0	0	0	0	0	0	26.21	26.36	28.83
829	-0.79	-72.0	3097	2256	3093	3213	88.8	-11.4	151	836	0.00	2.20	0.00	0.000	516	0.000	0.050	3098	826	3153	3093	3213	0	0	0	0	0	0	28.83	26.36	28.83
923	-0.79	-72.0	3097	826	3092	3213	98.7	-9.9	169	930	0.00	2.20	0.00	0.000	1030	0.000	0.047	3089	2251	3153	3093	3213	0	0	0	0	0	0	28.83	26.40	28.83
993	-0.79	-72.0	3089	2252	3093	3213	105.1	-9.1	177	1001	0.00	2.17	0.00	0.000	260	0.000	0.055	3077	3659	3153	3093	3213	0	0	0	0	0	0	28.83	26.39	28.83
1229	-0.79	-72.0	3077	3659	3093	3213	128.7	-9.9	200	1238	0.05	2.22	0.00	0.000	3078	0.181	0.041	3092	2239	3153	3093	3213	0	0	0	0	0	0	26.33	26.48	28.83
1357	-0.79	-72.0	3091	2239	3093	3213	140.9	-9.1	213	1361	0.00	2.10	0.00	0.000	516	0.000	0.048	3092	837	3153	3093	3213	0	0	0	0	0	0	28.83	26.48	28.83
1385	-0.79	-72.0	3092	837	3093	3213	143.2	-8.9	215	1394	0.03	2.22	0.00	0.000	3078	0.243	0.048	3090	2249	3153	3093	3213	0	0	0	0	0	0	26.36	26.49	28.83
1512	-0.79	-72.0	3090	2249	3093	3213	155.3	-9.3	228	1517	0.00	2.15	0.00	0.000	516	0.000	0.050	3090	841	3153	3093	3213	0	0	0	0	0	0	28.83	26.50	28.83
1598	-0.79	-72.0	3090	840	3093	3213	163.2	-9.6	236	1603	0.08	2.15	0.00	0.000	3078	0.246	0.044	3095	2250	3153	3093	3213	0	0	0	0	0	0	26.37	26.52	28.83
1723	-0.79	-72.0	3094	2251	3093	3213	173.0	-7.8	248	1727	0.00	2.15	0.00	0.000	260	0.000	0.054	3084	3655	3153	3093	3213	0	0	0	0	0	0	28.83	26.51	28.83
1807	end dive: TARGET_DEPTH_EXCEEDED
state	1807	begin apogee
1813	-0.13	0.0	3084	2186	3093	3213	180.6	-8.8	256	1872	0.75	0.00	54.05	0.732	10246	0.184	0.000	3303	2176	2856	2822	2891	0	0	0	0	0	0	26.36	28.83	25.20
1873	end apogee: CONTROL_FINISHED_OK
state	1873	begin climb
1874	0.79	72.0	3303	2176	2823	2891	182.8	0.0	262	1941	0.93	2.28	55.08	0.706	10756	0.125	0.044	3611	781	2562	2567	2558	0	0	0	0	0	0	25.66	25.21	24.68
1966	0.79	72.0	3611	781	2566	2558	173.2	15.0	271	1973	0.00	2.28	0.00	0.000	1030	0.000	0.038	3611	2187	2561	2566	2557	0	0	0	0	0	0	28.83	25.43	28.83
2092	0.79	72.0	3611	2188	2566	2556	150.5	15.6	284	2097	0.00	2.25	0.00	0.000	260	0.000	0.054	3611	3607	2561	2566	2556	0	0	0	0	0	0	28.83	25.75	28.83
2109	0.79	72.0	3610	3606	2566	2556	148.0	15.6	285	2117	0.00	2.22	0.00	0.000	1030	0.000	0.039	3621	2182	2561	2566	2556	0	0	0	0	0	0	28.83	25.81	28.83
2238	0.79	72.0	3620	2182	2566	2555	122.3	19.0	298	2242	0.00	2.25	0.00	0.000	260	0.000	0.052	3621	3598	2560	2566	2555	0	0	0	0	0	0	28.83	25.96	28.83
2264	0.79	72.0	3620	3599	2566	2555	117.0	20.0	300	2268	0.00	2.20	0.00	0.000	1030	0.000	0.038	3630	2184	2561	2566	2556	0	0	0	0	0	0	28.83	26.01	28.83
2389	0.79	72.0	3630	2184	2566	2556	92.3	18.9	316	2396	0.00	2.25	0.00	0.000	260	0.000	0.051	3631	3605	2561	2566	2556	0	0	0	0	0	0	28.83	26.08	28.83
2413	0.79	72.0	3630	3604	2565	2556	87.9	18.4	320	2421	0.00	2.17	0.00	0.000	1030	0.000	0.038	3641	2189	2560	2566	2555	0	0	0	0	0	0	28.83	26.13	28.83
2483	0.79	72.0	3640	2189	2565	2555	74.6	19.0	333	2489	0.00	2.12	0.00	0.000	516	0.000	0.046	3651	780	2560	2566	2555	0	0	0	0	0	0	28.83	26.15	28.83
2557	0.79	72.0	3651	779	2565	2556	60.7	18.6	347	2563	0.00	2.17	0.00	0.000	1030	0.000	0.037	3651	2206	2560	2565	2555	0	0	0	0	0	0	28.83	26.21	28.83
2625	0.79	72.0	3651	2206	2565	2556	48.1	17.3	360	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	3651	2206	2560	2565	2555	0	0	0	0	0	0	28.83	28.83	28.83
2662	0.79	72.0	3651	2206	2565	2555	41.3	18.0	367	2669	0.00	2.20	0.00	0.000	516	0.000	0.047	3661	775	2560	2565	2555	0	0	0	0	0	0	28.83	26.25	28.83
2730	0.79	72.0	3661	775	2565	2556	27.7	20.8	380	2738	0.10	2.15	0.00	0.000	5126	0.196	0.037	3641	2190	2560	2565	2555	0	0	0	0	0	0	26.15	26.29	28.83
2770	0.79	72.0	3640	2191	2565	2555	20.6	17.3	387	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	3641	2191	2560	2565	2555	0	0	0	0	0	0	28.83	28.83	28.83
2806	0.79	72.0	3640	2191	2565	2555	13.9	18.4	394	2812	0.00	0.00	0.00	0.000	6	0.000	0.000	3641	2191	2560	2565	2556	0	0	0	0	0	0	28.83	28.83	28.83
2843	0.79	72.0	3640	2191	2565	2555	6.8	18.9	401	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	3640	2191	2560	2565	2555	0	0	0	0	0	0	28.83	28.83	28.83
2869	end climb: SURFACE_DEPTH_REACHED
state	2869	begin surface coast
2886	end surface coast: CONTROL_FINISHED_OK
state	2886	begin surface