Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING 0 C_ROLL_DIVE 2060 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 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 52 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 235 R_STBD_OVSHOOT 56 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 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 -0.98000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 45 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 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 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -2666.4658 DBDW 0 COMPASS_DEVICE 33

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 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 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 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2888 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -60.397808 SEABIRD_T_J 2.3392056e-06

MASS 53045 PITCH_GAIN 18.1 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

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 2 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 18.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 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 4 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 9.9999997e-05 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2666.4658

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 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 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2888 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2060 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 52 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 56 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 13 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,070724,4743.767,-12224.861,3,1.3,3,16.3 TGT_NAME SW

_CALLS 3 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.069,-0.232

_SM_DEPTHo 1.17 KALMAN_X -2132.8,-74.4,56.3,2172.4,-133.2

_SM_ANGLEo -66.1 KALMAN_Y -9007.4,-117.7,74.7,10647.2,-408.5

GPS2 030615,071917,4743.793,-12224.997,5,1.2,5,16.3 MHEAD_RNG_PITCHd_Wd 147.2,2039,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.2,1.005105 _10V_AH 10.1,34.231

SM_CCo 3991,16.20,0.775,0,0,1389,235.12 FG_AHR_24Vo 0.000

SM_GC 3.42,7.75,2.28,16.20,0.034,0.026,0.775,195,2064,1389,-8.34,-1.50,235.12,0,0,0,0,0,0,26.49,26.59,25.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,290308,202003 MEM 322440

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 40240,768

HUMID 47.28 CAP_FILE_SIZE 85070,0

INTERNAL_PRESSURE 9.00085 CFSIZE 1024393216,1020379136

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,082754,4743.099,-12225.008,16,0.9,16,16.3

_24V_AH 23.2,41.095

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 240 110.34 SBE_CT 518 23 279.18

Roll_motor 69 53 85.75 WL_BBFL2 1053 105 2565.52

VBD_pump_during_apogee 245 1415 8045.10 nil 0 0 0.00

VBD_pump_during_surface 16 774 291.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 102 9 23.75 nil 0 0 0.00

Iridium_during_connect 138 160 515.46 nil 0 0 0.00

Iridium_during_xfer 271 223 1403.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.98

TT8 1702 17 300.10

LPSleep 478 2 10.59

TT8_Active 355 17 62.57

TT8_Sampling 2043 42 870.40

TT8_CF8 150 58 89.37

TT8_Kalman 33 64 21.69

Analog_circuits 1018 20 205.77

GPS_charging 0 0 0.00

Compass 1545 3 58.38

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.84 -146.6 186 2049 1506 1270 0.0 0.0 0 61 0.00 0.00 -43.72 0.000 16386 0.000 0.000 186 2049 2682 2696 2669 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.84 -146.6 186 2050 2696 2669 3.0 -6.2 7 86 10.20 2.25 -5.20 0.000 18948 0.240 0.054 2612 655 2912 2940 2884 0 0 0 0 0 0 25.65 26.26 26.68

282 -0.84 -146.6 2611 654 2942 2885 27.4 -10.2 52 289 0.00 2.15 0.00 0.000 1030 0.000 0.027 2604 2062 2913 2942 2884 0 0 0 0 0 0 28.83 26.48 28.83

352 -0.84 -146.6 1568 2059 2902 2877 33.9 -8.7 65 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2062 2913 2942 2885 0 0 0 0 0 0 28.83 28.83 28.83

421 -0.84 -146.6 1568 2060 2902 2877 40.4 -9.7 78 428 0.00 2.15 0.00 0.000 260 0.000 0.041 2594 3445 2913 2942 2884 0 0 0 0 0 0 28.83 26.39 28.83

549 -0.84 -146.6 1568 3444 2904 2877 54.6 -12.0 105 555 0.00 2.05 0.00 0.000 1030 0.000 0.027 2594 2044 2913 2942 2884 0 0 0 0 0 0 28.83 26.58 28.83

679 -0.84 -146.6 2594 2044 2944 2884 69.6 -11.5 130 687 0.00 2.20 0.00 0.000 260 0.000 0.041 2584 3456 2913 2943 2884 0 0 0 0 0 0 28.83 26.46 28.83

710 -0.84 -146.6 1576 3455 2905 2877 72.9 -11.0 136 718 0.10 2.10 0.00 0.000 3078 0.135 0.028 2616 2050 2913 2943 2884 0 0 0 0 0 0 26.24 26.62 28.83

843 -0.84 -146.6 2616 2050 2943 2884 83.9 -6.6 161 849 0.00 2.10 0.00 0.000 516 0.000 0.037 2616 662 2913 2943 2883 0 0 0 0 0 0 28.83 26.51 28.83

1005 -0.84 -146.6 2616 662 2943 2884 98.9 -8.2 197 1012 0.00 2.08 0.00 0.000 1030 0.000 0.026 2608 2065 2913 2943 2884 0 0 0 0 0 0 28.83 26.68 28.83

1135 -0.84 -146.6 2608 2065 2944 2884 111.6 -8.2 222 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2066 2913 2943 2884 0 0 0 0 0 0 28.83 28.83 28.83

1266 -0.84 -146.6 2608 2066 2943 2885 124.4 -8.4 247 1272 0.00 2.12 0.00 0.000 516 0.000 0.038 2608 669 2913 2943 2884 0 0 0 0 0 0 28.83 26.54 28.83

1283 -0.84 -146.6 2608 669 2943 2884 126.0 -8.5 250 1291 0.00 2.10 0.00 0.000 1030 0.000 0.026 2599 2062 2914 2943 2885 0 0 0 0 0 0 28.83 26.72 28.83

1416 -0.84 -146.6 2598 2062 2943 2885 138.6 -9.9 275 1421 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2062 2914 2943 2885 0 0 0 0 0 0 28.83 28.83 28.83

1544 -0.84 -146.6 2598 2062 2943 2884 151.9 -9.0 300 1552 0.00 2.15 0.00 0.000 260 0.000 0.042 2589 3454 2913 2943 2884 0 0 0 0 0 0 28.83 26.55 28.83

1564 -0.84 -146.6 2588 3454 2943 2885 153.7 -9.7 303 1571 0.12 2.03 0.00 0.000 3078 0.153 0.027 2620 2056 2913 2943 2884 0 0 0 0 0 0 26.37 26.72 28.83

1695 -0.84 -146.6 2620 2056 2944 2884 165.1 -7.8 328 1702 0.00 2.15 0.00 0.000 260 0.000 0.041 2612 3446 2913 2943 2884 0 0 0 0 0 0 28.83 26.55 28.83

1758 -0.84 -146.6 1584 3444 2904 2877 170.5 -7.8 341 1764 0.00 2.03 0.00 0.000 1030 0.000 0.028 2612 2053 2913 2943 2884 0 0 0 0 0 0 28.83 26.72 28.83

1866 end dive: TARGET_DEPTH_EXCEEDED

state 1866 begin apogee

1870 -0.28 0.0 2611 2053 2944 2885 180.2 -8.0 362 1987 0.55 0.00 112.18 1.400 10246 0.117 0.000 2792 2052 2328 2423 2234 0 0 0 0 0 0 26.03 28.83 23.79

1988 end apogee: CONTROL_FINISHED_OK

state 1988 begin climb

1990 0.84 146.6 2793 2052 2424 2235 184.2 0.0 382 2115 1.08 2.55 117.62 1.415 10756 0.080 0.041 3152 605 1745 1894 1596 0 0 0 0 0 0 24.99 24.33 23.20

2140 0.84 146.6 2128 605 1850 1591 174.6 9.8 408 2147 0.00 2.25 0.00 0.000 1030 0.000 0.026 3152 1985 1745 1894 1597 0 0 0 0 0 0 28.83 24.92 28.83

2272 0.84 146.6 3152 1985 1894 1597 160.5 10.8 433 2279 0.00 2.17 0.00 0.000 260 0.000 0.039 3151 3380 1745 1894 1596 0 0 0 0 0 0 28.83 25.70 28.83

2342 0.84 146.6 2112 3379 1849 1592 152.0 12.5 448 2349 0.00 2.15 0.00 0.000 1030 0.000 0.029 3152 1995 1745 1894 1597 0 0 0 0 0 0 28.83 25.98 28.83

2476 0.84 146.6 3152 1995 1894 1597 136.7 12.5 473 2482 0.00 2.20 0.00 0.000 516 0.000 0.042 3152 593 1745 1893 1597 0 0 0 0 0 0 28.83 26.12 28.83

2542 0.84 146.6 2112 593 1849 1591 128.8 10.9 487 2549 0.00 2.12 0.00 0.000 1030 0.000 0.026 3152 2006 1745 1894 1597 0 0 0 0 0 0 28.83 26.32 28.83

2674 0.84 146.6 3152 2006 1893 1598 115.6 10.8 512 2681 0.00 2.25 0.00 0.000 516 0.000 0.042 3152 597 1745 1893 1597 0 0 0 0 0 0 28.83 26.29 28.83

2701 0.84 146.6 2112 597 1849 1591 112.8 10.4 517 2708 0.00 2.10 0.00 0.000 1030 0.000 0.027 3152 1998 1745 1893 1597 0 0 0 0 0 0 28.83 26.44 28.83

2833 0.84 146.6 3152 1998 1893 1597 100.5 9.5 542 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 1999 1745 1893 1597 0 0 0 0 0 0 28.83 28.83 28.83

2964 0.84 146.6 3152 1998 1893 1597 88.0 8.6 567 2970 0.00 2.17 0.00 0.000 516 0.000 0.041 3152 596 1744 1892 1597 0 0 0 0 0 0 28.83 26.42 28.83

3056 0.84 146.6 2112 596 1849 1591 79.6 9.2 587 3062 0.00 2.08 0.00 0.000 1030 0.000 0.026 3152 1995 1744 1892 1597 0 0 0 0 0 0 28.83 26.60 28.83

3186 0.84 146.6 3151 1995 1892 1596 67.9 8.7 612 3193 0.00 2.22 0.00 0.000 516 0.000 0.042 3153 591 1744 1892 1597 0 0 0 0 0 0 28.83 26.45 28.83

3244 0.84 146.6 2144 590 1850 1592 62.9 8.4 624 3251 0.00 2.12 0.00 0.000 1030 0.000 0.027 3152 1993 1744 1892 1597 0 0 0 0 0 0 28.83 26.65 28.83

3375 0.84 146.6 3152 1993 1892 1597 51.3 9.3 649 3382 0.00 2.10 0.00 0.000 260 0.000 0.041 3152 3386 1744 1892 1597 0 0 0 0 0 0 28.83 26.53 28.83

3439 0.84 146.6 2096 3384 1848 1591 45.2 8.9 662 3446 0.00 2.10 0.00 0.000 1030 0.000 0.028 3152 1991 1744 1892 1597 0 0 0 0 0 0 28.83 26.65 28.83

3509 0.84 146.6 2088 1988 1847 1591 38.8 9.4 675 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 1990 1744 1892 1597 0 0 0 0 0 0 28.83 28.83 28.83

3578 0.84 146.6 2088 1988 1847 1592 32.1 9.1 688 3585 0.00 2.15 0.00 0.000 260 0.000 0.040 3152 3382 1744 1891 1597 0 0 0 0 0 0 28.83 26.55 28.83

3740 0.84 146.6 3152 3382 1891 1597 17.7 8.2 722 3747 0.00 2.10 0.00 0.000 1030 0.000 0.029 3152 1987 1744 1891 1598 0 0 0 0 0 0 28.83 26.69 28.83

3810 0.84 188.8 2096 1985 1847 1591 12.4 6.5 735 3831 0.00 2.25 15.23 0.757 8708 0.000 0.043 3152 588 1573 1731 1415 0 0 0 0 0 0 28.83 26.52 25.51

3948 end climb: SURFACE_DEPTH_REACHED

state 3948 begin surface coast

3973 end surface coast: CONTROL_FINISHED_OK

state 3973 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING	0	C_ROLL_DIVE	2060	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	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	52	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	235	R_STBD_OVSHOOT	56	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	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	-0.98000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	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	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-2666.4658	DBDW	0	COMPASS_DEVICE	33
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	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	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	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2888	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.1	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	293	ALTIM_TOP_PING_RANGE	0

GPS1	030615,070724,4743.767,-12224.861,3,1.3,3,16.3	TGT_NAME	SW
_CALLS	3	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.069,-0.232
_SM_DEPTHo	1.17	KALMAN_X	-2132.8,-74.4,56.3,2172.4,-133.2
_SM_ANGLEo	-66.1	KALMAN_Y	-9007.4,-117.7,74.7,10647.2,-408.5
GPS2	030615,071917,4743.793,-12224.997,5,1.2,5,16.3	MHEAD_RNG_PITCHd_Wd	147.2,2039,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	180

FINISH	0.2,1.005105	_10V_AH	10.1,34.231
SM_CCo	3991,16.20,0.775,0,0,1389,235.12	FG_AHR_24Vo	0.000
SM_GC	3.42,7.75,2.28,16.20,0.034,0.026,0.775,195,2064,1389,-8.34,-1.50,235.12,0,0,0,0,0,0,26.49,26.59,25.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,290308,202003	MEM	322440
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	40240,768
HUMID	47.28	CAP_FILE_SIZE	85070,0
INTERNAL_PRESSURE	9.00085	CFSIZE	1024393216,1020379136
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,082754,4743.099,-12225.008,16,0.9,16,16.3
_24V_AH	23.2,41.095

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	240	110.34	SBE_CT	518	23	279.18
Roll_motor	69	53	85.75	WL_BBFL2	1053	105	2565.52
VBD_pump_during_apogee	245	1415	8045.10	nil	0	0	0.00
VBD_pump_during_surface	16	774	291.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	102	9	23.75	nil	0	0	0.00
Iridium_during_connect	138	160	515.46	nil	0	0	0.00
Iridium_during_xfer	271	223	1403.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.98
TT8	1702	17	300.10
LPSleep	478	2	10.59
TT8_Active	355	17	62.57
TT8_Sampling	2043	42	870.40
TT8_CF8	150	58	89.37
TT8_Kalman	33	64	21.69
Analog_circuits	1018	20	205.77
GPS_charging	0	0	0.00
Compass	1545	3	58.38
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.84	-146.6	186	2049	1506	1270	0.0	0.0	0	61	0.00	0.00	-43.72	0.000	16386	0.000	0.000	186	2049	2682	2696	2669	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.84	-146.6	186	2050	2696	2669	3.0	-6.2	7	86	10.20	2.25	-5.20	0.000	18948	0.240	0.054	2612	655	2912	2940	2884	0	0	0	0	0	0	25.65	26.26	26.68
282	-0.84	-146.6	2611	654	2942	2885	27.4	-10.2	52	289	0.00	2.15	0.00	0.000	1030	0.000	0.027	2604	2062	2913	2942	2884	0	0	0	0	0	0	28.83	26.48	28.83
352	-0.84	-146.6	1568	2059	2902	2877	33.9	-8.7	65	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2062	2913	2942	2885	0	0	0	0	0	0	28.83	28.83	28.83
421	-0.84	-146.6	1568	2060	2902	2877	40.4	-9.7	78	428	0.00	2.15	0.00	0.000	260	0.000	0.041	2594	3445	2913	2942	2884	0	0	0	0	0	0	28.83	26.39	28.83
549	-0.84	-146.6	1568	3444	2904	2877	54.6	-12.0	105	555	0.00	2.05	0.00	0.000	1030	0.000	0.027	2594	2044	2913	2942	2884	0	0	0	0	0	0	28.83	26.58	28.83
679	-0.84	-146.6	2594	2044	2944	2884	69.6	-11.5	130	687	0.00	2.20	0.00	0.000	260	0.000	0.041	2584	3456	2913	2943	2884	0	0	0	0	0	0	28.83	26.46	28.83
710	-0.84	-146.6	1576	3455	2905	2877	72.9	-11.0	136	718	0.10	2.10	0.00	0.000	3078	0.135	0.028	2616	2050	2913	2943	2884	0	0	0	0	0	0	26.24	26.62	28.83
843	-0.84	-146.6	2616	2050	2943	2884	83.9	-6.6	161	849	0.00	2.10	0.00	0.000	516	0.000	0.037	2616	662	2913	2943	2883	0	0	0	0	0	0	28.83	26.51	28.83
1005	-0.84	-146.6	2616	662	2943	2884	98.9	-8.2	197	1012	0.00	2.08	0.00	0.000	1030	0.000	0.026	2608	2065	2913	2943	2884	0	0	0	0	0	0	28.83	26.68	28.83
1135	-0.84	-146.6	2608	2065	2944	2884	111.6	-8.2	222	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2066	2913	2943	2884	0	0	0	0	0	0	28.83	28.83	28.83
1266	-0.84	-146.6	2608	2066	2943	2885	124.4	-8.4	247	1272	0.00	2.12	0.00	0.000	516	0.000	0.038	2608	669	2913	2943	2884	0	0	0	0	0	0	28.83	26.54	28.83
1283	-0.84	-146.6	2608	669	2943	2884	126.0	-8.5	250	1291	0.00	2.10	0.00	0.000	1030	0.000	0.026	2599	2062	2914	2943	2885	0	0	0	0	0	0	28.83	26.72	28.83
1416	-0.84	-146.6	2598	2062	2943	2885	138.6	-9.9	275	1421	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2062	2914	2943	2885	0	0	0	0	0	0	28.83	28.83	28.83
1544	-0.84	-146.6	2598	2062	2943	2884	151.9	-9.0	300	1552	0.00	2.15	0.00	0.000	260	0.000	0.042	2589	3454	2913	2943	2884	0	0	0	0	0	0	28.83	26.55	28.83
1564	-0.84	-146.6	2588	3454	2943	2885	153.7	-9.7	303	1571	0.12	2.03	0.00	0.000	3078	0.153	0.027	2620	2056	2913	2943	2884	0	0	0	0	0	0	26.37	26.72	28.83
1695	-0.84	-146.6	2620	2056	2944	2884	165.1	-7.8	328	1702	0.00	2.15	0.00	0.000	260	0.000	0.041	2612	3446	2913	2943	2884	0	0	0	0	0	0	28.83	26.55	28.83
1758	-0.84	-146.6	1584	3444	2904	2877	170.5	-7.8	341	1764	0.00	2.03	0.00	0.000	1030	0.000	0.028	2612	2053	2913	2943	2884	0	0	0	0	0	0	28.83	26.72	28.83
1866	end dive: TARGET_DEPTH_EXCEEDED
state	1866	begin apogee
1870	-0.28	0.0	2611	2053	2944	2885	180.2	-8.0	362	1987	0.55	0.00	112.18	1.400	10246	0.117	0.000	2792	2052	2328	2423	2234	0	0	0	0	0	0	26.03	28.83	23.79
1988	end apogee: CONTROL_FINISHED_OK
state	1988	begin climb
1990	0.84	146.6	2793	2052	2424	2235	184.2	0.0	382	2115	1.08	2.55	117.62	1.415	10756	0.080	0.041	3152	605	1745	1894	1596	0	0	0	0	0	0	24.99	24.33	23.20
2140	0.84	146.6	2128	605	1850	1591	174.6	9.8	408	2147	0.00	2.25	0.00	0.000	1030	0.000	0.026	3152	1985	1745	1894	1597	0	0	0	0	0	0	28.83	24.92	28.83
2272	0.84	146.6	3152	1985	1894	1597	160.5	10.8	433	2279	0.00	2.17	0.00	0.000	260	0.000	0.039	3151	3380	1745	1894	1596	0	0	0	0	0	0	28.83	25.70	28.83
2342	0.84	146.6	2112	3379	1849	1592	152.0	12.5	448	2349	0.00	2.15	0.00	0.000	1030	0.000	0.029	3152	1995	1745	1894	1597	0	0	0	0	0	0	28.83	25.98	28.83
2476	0.84	146.6	3152	1995	1894	1597	136.7	12.5	473	2482	0.00	2.20	0.00	0.000	516	0.000	0.042	3152	593	1745	1893	1597	0	0	0	0	0	0	28.83	26.12	28.83
2542	0.84	146.6	2112	593	1849	1591	128.8	10.9	487	2549	0.00	2.12	0.00	0.000	1030	0.000	0.026	3152	2006	1745	1894	1597	0	0	0	0	0	0	28.83	26.32	28.83
2674	0.84	146.6	3152	2006	1893	1598	115.6	10.8	512	2681	0.00	2.25	0.00	0.000	516	0.000	0.042	3152	597	1745	1893	1597	0	0	0	0	0	0	28.83	26.29	28.83
2701	0.84	146.6	2112	597	1849	1591	112.8	10.4	517	2708	0.00	2.10	0.00	0.000	1030	0.000	0.027	3152	1998	1745	1893	1597	0	0	0	0	0	0	28.83	26.44	28.83
2833	0.84	146.6	3152	1998	1893	1597	100.5	9.5	542	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	1999	1745	1893	1597	0	0	0	0	0	0	28.83	28.83	28.83
2964	0.84	146.6	3152	1998	1893	1597	88.0	8.6	567	2970	0.00	2.17	0.00	0.000	516	0.000	0.041	3152	596	1744	1892	1597	0	0	0	0	0	0	28.83	26.42	28.83
3056	0.84	146.6	2112	596	1849	1591	79.6	9.2	587	3062	0.00	2.08	0.00	0.000	1030	0.000	0.026	3152	1995	1744	1892	1597	0	0	0	0	0	0	28.83	26.60	28.83
3186	0.84	146.6	3151	1995	1892	1596	67.9	8.7	612	3193	0.00	2.22	0.00	0.000	516	0.000	0.042	3153	591	1744	1892	1597	0	0	0	0	0	0	28.83	26.45	28.83
3244	0.84	146.6	2144	590	1850	1592	62.9	8.4	624	3251	0.00	2.12	0.00	0.000	1030	0.000	0.027	3152	1993	1744	1892	1597	0	0	0	0	0	0	28.83	26.65	28.83
3375	0.84	146.6	3152	1993	1892	1597	51.3	9.3	649	3382	0.00	2.10	0.00	0.000	260	0.000	0.041	3152	3386	1744	1892	1597	0	0	0	0	0	0	28.83	26.53	28.83
3439	0.84	146.6	2096	3384	1848	1591	45.2	8.9	662	3446	0.00	2.10	0.00	0.000	1030	0.000	0.028	3152	1991	1744	1892	1597	0	0	0	0	0	0	28.83	26.65	28.83
3509	0.84	146.6	2088	1988	1847	1591	38.8	9.4	675	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	1990	1744	1892	1597	0	0	0	0	0	0	28.83	28.83	28.83
3578	0.84	146.6	2088	1988	1847	1592	32.1	9.1	688	3585	0.00	2.15	0.00	0.000	260	0.000	0.040	3152	3382	1744	1891	1597	0	0	0	0	0	0	28.83	26.55	28.83
3740	0.84	146.6	3152	3382	1891	1597	17.7	8.2	722	3747	0.00	2.10	0.00	0.000	1030	0.000	0.029	3152	1987	1744	1891	1598	0	0	0	0	0	0	28.83	26.69	28.83
3810	0.84	188.8	2096	1985	1847	1591	12.4	6.5	735	3831	0.00	2.25	15.23	0.757	8708	0.000	0.043	3152	588	1573	1731	1415	0	0	0	0	0	0	28.83	26.52	25.51
3948	end climb: SURFACE_DEPTH_REACHED
state	3948	begin surface coast
3973	end surface coast: CONTROL_FINISHED_OK
state	3973	begin surface