Glider dive log

Shilshole 02Jun15 * SG157 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 157 HD_C 9.9999997e-06 ROLL_MAX 3867 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 33 ALTIM_TOP_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 0 C_ROLL_DIVE 1550 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1730 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 15

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 38 ALTIM_SENSITIVITY 4

D_NO_BLEED 45 SM_CC 235 R_STBD_OVSHOOT 20 XPDR_VALID 5

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 485 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 1 C_VBD 1745 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 83

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 85 CALL_WAIT 45 PITCH_VBD_SHIFT 0.00055 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 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 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 -1486828.9 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 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 195 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3873 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2948 FG_AHR_10V 0 SEABIRD_T_G 0.0042746845

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061961456

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2130595e-05

RHO 1.023 P_OVSHOOT 0.0099999998 PRESSURE_YINT -59.120026 SEABIRD_T_J 2.2584688e-06

MASS 52229 PITCH_GAIN 30.799999 PRESSURE_SLOPE 0.0001158973 SEABIRD_C_G -10.171194

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1508522

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016472058

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021877296

KALMAN_USE 1 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 268 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

AH0_10V 100 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 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30.799999 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3873 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 195 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00055 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 0.003 PRESSURE_SLOPE 0.0001158973 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -59.120026 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.0099999998 T_GPS_CHARGE -1486828.9

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 85

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 157 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 1.2 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2948 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 1730 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1745 LOGGERDEVICE4 -1 ROLL_DEG 33 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3867 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52229 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 268 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE3 83 MINV_24V 19 R_STBD_OVSHOOT 20 VBD_MIN 485

DEVICE4 -1 MISSION 13 SEABIRD_C_G -10.171194 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1508522 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0016472058 VBD_TIMEOUT 720

DIVE 15 NOCOMM_ACTION 1 SEABIRD_C_J 0.00021877296 W_ADJ_DBAND 0

D_ABORT 1050 N_DIVES 25 SEABIRD_T_G 0.0042746845 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00061961456 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2130595e-05 XPDR_VALID 5

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.2584688e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 45 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,090509,4744.167,-12225.399,4,1.4,4,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.126,-0.205

_SM_DEPTHo 1.61 KALMAN_X 2095.2,195.5,363.0,-3149.4,-212.1

_SM_ANGLEo -75.5 KALMAN_Y -2377.8,1159.5,958.6,2180.9,-296.7

GPS2 030615,091302,4744.140,-12225.429,6,1.4,6,16.3 MHEAD_RNG_PITCHd_Wd 132.2,2779,-14.0,-8.000,-18.40,2768

SPEED_LIMITS 0.139,0.240 D_GRID 252

Post-dive calculations and measurements:

FINISH 0.9,1.001602 _10V_AH 10.4,1.049

SM_CCo 3709,38.83,0.506,0,0,806,235.12 FG_AHR_24Vo 0.000

SM_GC 2.14,7.70,2.12,38.83,0.051,0.029,0.506,172,1543,806,-8.60,-0.88,235.12,0,0,0,0,0,0,26.45,26.48,25.63 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,290308,222241 MEM 323100

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 46997,677

HUMID 43.77 CAP_FILE_SIZE 77458,0

INTERNAL_PRESSURE 8.78818 CFSIZE 260165632,257245184

TCM_TEMP 20.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

XPDR_PINGS 30 GPS 030615,101758,4743.345,-12225.209,39,0.8,39,16.3

_24V_AH 24.4,1.267

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 257 120.78 SBE_CT 460 23 269.38

Roll_motor 76 63 118.29 AA4330 545 20 268.90

VBD_pump_during_apogee 251 698 4277.56 WL_BBFL2VMT 552 62 838.46

VBD_pump_during_surface 38 505 479.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 34 63 54.09 nil 0 0 0.00

Iridium_during_connect 42 160 165.10 nil 0 0 0.00

Iridium_during_xfer 249 223 1355.43 nil 0 0 0.00

Transponder_ping 7 420 76.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 32 2.51

TT8 1517 12 200.71

LPSleep 691 2 15.76

TT8_Active 417 12 55.21

TT8_Sampling 1307 38 529.30

TT8_CF8 296 45 141.01

TT8_Kalman 33 65 22.77

Analog_circuits 991 10 108.28

GPS_charging 0 0 0.00

Compass 1002 16 171.82

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

17 -0.54 -146.6 179 1537 737 874 0.0 0.0 0 62 0.00 0.00 -43.15 0.000 16386 0.000 0.000 179 1538 1954 2024 1884 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.54 -146.6 179 1538 2024 1884 3.2 -6.1 8 92 10.45 2.50 -8.65 0.000 18948 0.258 0.063 2785 389 2332 2492 2172 0 0 0 0 0 0 25.77 26.03 26.32

184 -0.54 -146.6 2785 389 2492 2176 19.4 -14.1 29 190 0.00 2.40 0.00 0.000 1030 0.000 0.032 2776 1548 2334 2492 2176 0 0 0 0 0 0 28.83 26.15 28.83

255 -0.54 -146.6 2776 1548 2492 2177 28.5 -11.2 42 260 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1548 2334 2492 2176 0 0 0 0 0 0 28.83 28.83 28.83

324 -0.54 -146.6 2776 1548 2492 2177 35.3 -9.2 55 331 0.00 1.92 0.00 0.000 260 0.000 0.044 2776 2745 2334 2492 2177 0 0 0 0 0 0 28.83 26.25 28.83

405 -0.54 -146.6 2776 2744 2491 2179 43.4 -10.6 70 411 0.00 1.88 0.00 0.000 1030 0.000 0.034 2776 1568 2335 2492 2179 0 0 0 0 0 0 28.83 26.31 28.83

535 -0.54 -146.6 2776 1568 2492 2178 58.0 -11.1 95 541 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1568 2335 2492 2179 0 0 0 0 0 0 28.83 28.83 28.83

665 -0.54 -146.6 2776 1568 2491 2178 71.9 -10.6 120 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1568 2334 2491 2178 0 0 0 0 0 0 28.83 28.83 28.83

795 -0.54 -146.6 2776 1568 2491 2178 85.9 -10.5 145 801 0.00 1.88 0.00 0.000 260 0.000 0.044 2776 2744 2335 2492 2178 0 0 0 0 0 0 28.83 26.46 28.83

845 -0.54 -146.6 1792 2743 2432 2170 90.9 -9.8 154 851 0.00 1.90 0.00 0.000 1030 0.000 0.038 2776 1551 2335 2491 2179 0 0 0 0 0 0 28.83 26.48 28.83

975 -0.54 -146.6 2776 1551 2491 2178 103.5 -9.2 179 982 0.00 1.92 0.00 0.000 260 0.000 0.046 2776 2748 2335 2491 2179 0 0 0 0 0 0 28.83 26.50 28.83

1091 -0.54 -146.6 2776 2747 2491 2179 114.3 -9.6 201 1097 0.00 1.90 0.00 0.000 1030 0.000 0.033 2776 1548 2335 2491 2179 0 0 0 0 0 0 28.83 26.54 28.83

1225 -0.54 -146.6 2776 1548 2491 2179 128.0 -8.9 226 1232 0.00 1.95 0.00 0.000 260 0.000 0.044 2776 2748 2334 2491 2178 0 0 0 0 0 0 28.83 26.55 28.83

1276 -0.54 -146.6 2776 2747 2491 2179 133.1 -8.4 235 1283 0.00 1.90 0.00 0.000 1030 0.000 0.036 2776 1550 2335 2491 2179 0 0 0 0 0 0 28.83 26.57 28.83

1409 -0.54 -146.6 2776 1550 2491 2178 145.9 -9.1 260 1416 0.00 1.95 0.00 0.000 260 0.000 0.046 2776 2755 2335 2491 2179 0 0 0 0 0 0 28.83 26.58 28.83

1480 -0.54 -146.6 2776 2755 2491 2179 151.7 -7.4 273 1487 0.00 1.90 0.00 0.000 1030 0.000 0.034 2776 1550 2335 2491 2179 0 0 0 0 0 0 28.83 26.60 28.83

1613 -0.54 -146.6 2776 1550 2491 2179 163.3 -9.2 298 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 1550 2335 2491 2179 0 0 0 0 0 0 28.83 28.83 28.83

1743 -0.54 -146.6 2776 1550 2491 2179 175.1 -9.8 323 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 1550 2334 2491 2178 0 0 0 0 0 0 28.83 28.83 28.83

1788 end dive: TARGET_DEPTH_EXCEEDED

state 1788 begin apogee

1797 -0.16 0.0 2775 1758 2491 2178 180.0 -8.8 332 1925 0.38 0.08 118.22 0.698 10246 0.156 0.044 2899 1716 1744 1779 1710 0 0 0 0 0 0 26.51 25.22 24.72

1929 end apogee: CONTROL_FINISHED_OK

state 1929 begin climb

1932 0.54 146.6 2898 1715 1779 1710 179.2 0.0 355 2060 0.68 2.85 119.45 0.672 11012 0.131 0.050 3127 567 1161 1134 1188 0 0 0 0 0 0 25.27 24.94 24.44

2117 0.54 146.6 3126 565 1134 1188 161.5 10.8 388 2124 0.00 2.75 0.00 0.000 1030 0.000 0.036 3127 1722 1161 1134 1188 0 0 0 0 0 0 28.83 25.45 28.83

2251 0.54 146.6 3126 1721 1134 1186 144.8 12.7 413 2258 0.00 2.78 0.00 0.000 516 0.000 0.052 3128 570 1160 1134 1186 0 0 0 0 0 0 28.83 25.80 28.83

2282 0.54 146.6 3128 570 1134 1186 141.0 11.2 418 2288 0.00 2.72 0.00 0.000 1030 0.000 0.033 3128 1731 1160 1134 1186 0 0 0 0 0 0 28.83 25.89 28.83

2415 0.54 146.6 3128 1731 1134 1185 124.1 14.7 443 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 1732 1159 1134 1185 0 0 0 0 0 0 28.83 28.83 28.83

2545 0.54 146.6 3128 1731 1134 1185 106.6 12.0 468 2551 0.00 2.78 0.00 0.000 516 0.000 0.052 3128 568 1159 1134 1185 0 0 0 0 0 0 28.83 26.15 28.83

2585 0.54 146.6 3128 568 1134 1185 101.9 10.6 475 2592 0.00 2.70 0.00 0.000 1030 0.000 0.034 3128 1737 1159 1133 1185 0 0 0 0 0 0 28.83 26.21 28.83

2719 0.54 146.6 3128 1737 1134 1184 86.8 11.0 500 2725 0.00 2.78 0.00 0.000 516 0.000 0.051 3129 566 1158 1133 1184 0 0 0 0 0 0 28.83 26.26 28.83

2754 0.54 146.6 2144 566 1119 1183 82.8 10.0 506 2760 0.00 2.70 0.00 0.000 1030 0.000 0.035 3128 1733 1159 1134 1184 0 0 0 0 0 0 28.83 26.31 28.83

2887 0.54 146.6 3128 1733 1134 1184 69.7 10.3 531 2894 0.00 2.75 0.00 0.000 516 0.000 0.057 3128 566 1159 1134 1184 0 0 0 0 0 0 28.83 26.33 28.83

2963 0.54 146.6 3128 565 1134 1184 62.4 8.4 545 2970 0.00 2.67 0.00 0.000 1030 0.000 0.037 3128 1732 1159 1134 1184 0 0 0 0 0 0 28.83 26.40 28.83

3097 0.54 146.6 2088 1731 1118 1182 50.3 8.7 570 3104 0.00 2.75 0.00 0.000 516 0.000 0.055 3128 570 1158 1133 1184 0 0 0 0 0 0 28.83 26.31 28.83

3163 0.54 149.7 3128 570 1134 1184 44.4 7.9 582 3176 0.00 2.67 3.95 0.444 9222 0.000 0.034 3128 1730 1146 1124 1169 0 0 0 0 0 0 28.83 26.46 25.85

3301 0.54 149.7 3128 1730 1124 1169 32.5 9.1 608 3308 0.00 2.75 0.00 0.000 516 0.000 0.050 3128 562 1147 1124 1170 0 0 0 0 0 0 28.83 26.44 28.83

3322 0.54 149.7 3128 561 1124 1169 30.5 9.4 611 3329 0.00 2.70 0.00 0.000 1030 0.000 0.034 3129 1737 1146 1124 1169 0 0 0 0 0 0 28.83 26.47 28.83

3393 0.54 149.7 3128 1737 1124 1169 24.2 9.2 624 3399 0.00 1.52 0.00 0.000 260 0.000 0.047 3128 2925 1146 1124 1169 0 0 0 0 0 0 28.83 26.48 28.83

3433 0.54 149.7 3128 2925 1124 1169 20.7 8.7 631 3440 0.00 1.60 0.00 0.000 1030 0.000 0.033 3128 1709 1146 1124 1169 0 0 0 0 0 0 28.83 26.51 28.83

3504 0.54 150.6 3128 1709 1124 1169 15.0 8.0 644 3511 0.00 2.65 0.00 0.000 516 0.000 0.055 3129 570 1146 1124 1169 0 0 0 0 0 0 28.83 26.47 28.83

3555 0.55 166.3 3128 570 1124 1169 10.9 7.4 653 3573 0.00 2.67 9.38 0.493 9222 0.000 0.041 3129 1738 1080 1051 1109 0 0 0 0 0 0 28.83 26.52 25.96

3638 0.55 166.3 3128 1738 1051 1109 4.1 8.3 668 3644 0.00 2.75 0.00 0.000 516 0.000 0.053 3128 573 1080 1051 1109 0 0 0 0 0 0 28.83 26.41 28.83

3649 end climb: SURFACE_DEPTH_REACHED

state 3649 begin surface coast

3686 end surface coast: CONTROL_FINISHED_OK

state 3686 begin surface

ID	157	HD_C	9.9999997e-06	ROLL_MAX	3867	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	33	ALTIM_TOP_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	0	C_ROLL_DIVE	1550	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1730	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	15
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	38	ALTIM_SENSITIVITY	4
D_NO_BLEED	45	SM_CC	235	R_STBD_OVSHOOT	20	XPDR_VALID	5
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	485	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	1	C_VBD	1745	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	83
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	85	CALL_WAIT	45	PITCH_VBD_SHIFT	0.00055	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	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	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	-1486828.9	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	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	195	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3873	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2948	FG_AHR_10V	0	SEABIRD_T_G	0.0042746845
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061961456
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2130595e-05
RHO	1.023	P_OVSHOOT	0.0099999998	PRESSURE_YINT	-59.120026	SEABIRD_T_J	2.2584688e-06
MASS	52229	PITCH_GAIN	30.799999	PRESSURE_SLOPE	0.0001158973	SEABIRD_C_G	-10.171194
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1508522
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016472058
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021877296
KALMAN_USE	1	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	268	ALTIM_TOP_PING_RANGE	0

GPS1	030615,090509,4744.167,-12225.399,4,1.4,4,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.126,-0.205
_SM_DEPTHo	1.61	KALMAN_X	2095.2,195.5,363.0,-3149.4,-212.1
_SM_ANGLEo	-75.5	KALMAN_Y	-2377.8,1159.5,958.6,2180.9,-296.7
GPS2	030615,091302,4744.140,-12225.429,6,1.4,6,16.3	MHEAD_RNG_PITCHd_Wd	132.2,2779,-14.0,-8.000,-18.40,2768
SPEED_LIMITS	0.139,0.240	D_GRID	252

FINISH	0.9,1.001602	_10V_AH	10.4,1.049
SM_CCo	3709,38.83,0.506,0,0,806,235.12	FG_AHR_24Vo	0.000
SM_GC	2.14,7.70,2.12,38.83,0.051,0.029,0.506,172,1543,806,-8.60,-0.88,235.12,0,0,0,0,0,0,26.45,26.48,25.63	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,290308,222241	MEM	323100
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	46997,677
HUMID	43.77	CAP_FILE_SIZE	77458,0
INTERNAL_PRESSURE	8.78818	CFSIZE	260165632,257245184
TCM_TEMP	20.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
XPDR_PINGS	30	GPS	030615,101758,4743.345,-12225.209,39,0.8,39,16.3
_24V_AH	24.4,1.267

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	257	120.78	SBE_CT	460	23	269.38
Roll_motor	76	63	118.29	AA4330	545	20	268.90
VBD_pump_during_apogee	251	698	4277.56	WL_BBFL2VMT	552	62	838.46
VBD_pump_during_surface	38	505	479.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	34	63	54.09	nil	0	0	0.00
Iridium_during_connect	42	160	165.10	nil	0	0	0.00
Iridium_during_xfer	249	223	1355.43	nil	0	0	0.00
Transponder_ping	7	420	76.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	32	2.51
TT8	1517	12	200.71
LPSleep	691	2	15.76
TT8_Active	417	12	55.21
TT8_Sampling	1307	38	529.30
TT8_CF8	296	45	141.01
TT8_Kalman	33	65	22.77
Analog_circuits	991	10	108.28
GPS_charging	0	0	0.00
Compass	1002	16	171.82
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
17	-0.54	-146.6	179	1537	737	874	0.0	0.0	0	62	0.00	0.00	-43.15	0.000	16386	0.000	0.000	179	1538	1954	2024	1884	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.54	-146.6	179	1538	2024	1884	3.2	-6.1	8	92	10.45	2.50	-8.65	0.000	18948	0.258	0.063	2785	389	2332	2492	2172	0	0	0	0	0	0	25.77	26.03	26.32
184	-0.54	-146.6	2785	389	2492	2176	19.4	-14.1	29	190	0.00	2.40	0.00	0.000	1030	0.000	0.032	2776	1548	2334	2492	2176	0	0	0	0	0	0	28.83	26.15	28.83
255	-0.54	-146.6	2776	1548	2492	2177	28.5	-11.2	42	260	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1548	2334	2492	2176	0	0	0	0	0	0	28.83	28.83	28.83
324	-0.54	-146.6	2776	1548	2492	2177	35.3	-9.2	55	331	0.00	1.92	0.00	0.000	260	0.000	0.044	2776	2745	2334	2492	2177	0	0	0	0	0	0	28.83	26.25	28.83
405	-0.54	-146.6	2776	2744	2491	2179	43.4	-10.6	70	411	0.00	1.88	0.00	0.000	1030	0.000	0.034	2776	1568	2335	2492	2179	0	0	0	0	0	0	28.83	26.31	28.83
535	-0.54	-146.6	2776	1568	2492	2178	58.0	-11.1	95	541	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1568	2335	2492	2179	0	0	0	0	0	0	28.83	28.83	28.83
665	-0.54	-146.6	2776	1568	2491	2178	71.9	-10.6	120	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1568	2334	2491	2178	0	0	0	0	0	0	28.83	28.83	28.83
795	-0.54	-146.6	2776	1568	2491	2178	85.9	-10.5	145	801	0.00	1.88	0.00	0.000	260	0.000	0.044	2776	2744	2335	2492	2178	0	0	0	0	0	0	28.83	26.46	28.83
845	-0.54	-146.6	1792	2743	2432	2170	90.9	-9.8	154	851	0.00	1.90	0.00	0.000	1030	0.000	0.038	2776	1551	2335	2491	2179	0	0	0	0	0	0	28.83	26.48	28.83
975	-0.54	-146.6	2776	1551	2491	2178	103.5	-9.2	179	982	0.00	1.92	0.00	0.000	260	0.000	0.046	2776	2748	2335	2491	2179	0	0	0	0	0	0	28.83	26.50	28.83
1091	-0.54	-146.6	2776	2747	2491	2179	114.3	-9.6	201	1097	0.00	1.90	0.00	0.000	1030	0.000	0.033	2776	1548	2335	2491	2179	0	0	0	0	0	0	28.83	26.54	28.83
1225	-0.54	-146.6	2776	1548	2491	2179	128.0	-8.9	226	1232	0.00	1.95	0.00	0.000	260	0.000	0.044	2776	2748	2334	2491	2178	0	0	0	0	0	0	28.83	26.55	28.83
1276	-0.54	-146.6	2776	2747	2491	2179	133.1	-8.4	235	1283	0.00	1.90	0.00	0.000	1030	0.000	0.036	2776	1550	2335	2491	2179	0	0	0	0	0	0	28.83	26.57	28.83
1409	-0.54	-146.6	2776	1550	2491	2178	145.9	-9.1	260	1416	0.00	1.95	0.00	0.000	260	0.000	0.046	2776	2755	2335	2491	2179	0	0	0	0	0	0	28.83	26.58	28.83
1480	-0.54	-146.6	2776	2755	2491	2179	151.7	-7.4	273	1487	0.00	1.90	0.00	0.000	1030	0.000	0.034	2776	1550	2335	2491	2179	0	0	0	0	0	0	28.83	26.60	28.83
1613	-0.54	-146.6	2776	1550	2491	2179	163.3	-9.2	298	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	1550	2335	2491	2179	0	0	0	0	0	0	28.83	28.83	28.83
1743	-0.54	-146.6	2776	1550	2491	2179	175.1	-9.8	323	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	1550	2334	2491	2178	0	0	0	0	0	0	28.83	28.83	28.83
1788	end dive: TARGET_DEPTH_EXCEEDED
state	1788	begin apogee
1797	-0.16	0.0	2775	1758	2491	2178	180.0	-8.8	332	1925	0.38	0.08	118.22	0.698	10246	0.156	0.044	2899	1716	1744	1779	1710	0	0	0	0	0	0	26.51	25.22	24.72
1929	end apogee: CONTROL_FINISHED_OK
state	1929	begin climb
1932	0.54	146.6	2898	1715	1779	1710	179.2	0.0	355	2060	0.68	2.85	119.45	0.672	11012	0.131	0.050	3127	567	1161	1134	1188	0	0	0	0	0	0	25.27	24.94	24.44
2117	0.54	146.6	3126	565	1134	1188	161.5	10.8	388	2124	0.00	2.75	0.00	0.000	1030	0.000	0.036	3127	1722	1161	1134	1188	0	0	0	0	0	0	28.83	25.45	28.83
2251	0.54	146.6	3126	1721	1134	1186	144.8	12.7	413	2258	0.00	2.78	0.00	0.000	516	0.000	0.052	3128	570	1160	1134	1186	0	0	0	0	0	0	28.83	25.80	28.83
2282	0.54	146.6	3128	570	1134	1186	141.0	11.2	418	2288	0.00	2.72	0.00	0.000	1030	0.000	0.033	3128	1731	1160	1134	1186	0	0	0	0	0	0	28.83	25.89	28.83
2415	0.54	146.6	3128	1731	1134	1185	124.1	14.7	443	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	1732	1159	1134	1185	0	0	0	0	0	0	28.83	28.83	28.83
2545	0.54	146.6	3128	1731	1134	1185	106.6	12.0	468	2551	0.00	2.78	0.00	0.000	516	0.000	0.052	3128	568	1159	1134	1185	0	0	0	0	0	0	28.83	26.15	28.83
2585	0.54	146.6	3128	568	1134	1185	101.9	10.6	475	2592	0.00	2.70	0.00	0.000	1030	0.000	0.034	3128	1737	1159	1133	1185	0	0	0	0	0	0	28.83	26.21	28.83
2719	0.54	146.6	3128	1737	1134	1184	86.8	11.0	500	2725	0.00	2.78	0.00	0.000	516	0.000	0.051	3129	566	1158	1133	1184	0	0	0	0	0	0	28.83	26.26	28.83
2754	0.54	146.6	2144	566	1119	1183	82.8	10.0	506	2760	0.00	2.70	0.00	0.000	1030	0.000	0.035	3128	1733	1159	1134	1184	0	0	0	0	0	0	28.83	26.31	28.83
2887	0.54	146.6	3128	1733	1134	1184	69.7	10.3	531	2894	0.00	2.75	0.00	0.000	516	0.000	0.057	3128	566	1159	1134	1184	0	0	0	0	0	0	28.83	26.33	28.83
2963	0.54	146.6	3128	565	1134	1184	62.4	8.4	545	2970	0.00	2.67	0.00	0.000	1030	0.000	0.037	3128	1732	1159	1134	1184	0	0	0	0	0	0	28.83	26.40	28.83
3097	0.54	146.6	2088	1731	1118	1182	50.3	8.7	570	3104	0.00	2.75	0.00	0.000	516	0.000	0.055	3128	570	1158	1133	1184	0	0	0	0	0	0	28.83	26.31	28.83
3163	0.54	149.7	3128	570	1134	1184	44.4	7.9	582	3176	0.00	2.67	3.95	0.444	9222	0.000	0.034	3128	1730	1146	1124	1169	0	0	0	0	0	0	28.83	26.46	25.85
3301	0.54	149.7	3128	1730	1124	1169	32.5	9.1	608	3308	0.00	2.75	0.00	0.000	516	0.000	0.050	3128	562	1147	1124	1170	0	0	0	0	0	0	28.83	26.44	28.83
3322	0.54	149.7	3128	561	1124	1169	30.5	9.4	611	3329	0.00	2.70	0.00	0.000	1030	0.000	0.034	3129	1737	1146	1124	1169	0	0	0	0	0	0	28.83	26.47	28.83
3393	0.54	149.7	3128	1737	1124	1169	24.2	9.2	624	3399	0.00	1.52	0.00	0.000	260	0.000	0.047	3128	2925	1146	1124	1169	0	0	0	0	0	0	28.83	26.48	28.83
3433	0.54	149.7	3128	2925	1124	1169	20.7	8.7	631	3440	0.00	1.60	0.00	0.000	1030	0.000	0.033	3128	1709	1146	1124	1169	0	0	0	0	0	0	28.83	26.51	28.83
3504	0.54	150.6	3128	1709	1124	1169	15.0	8.0	644	3511	0.00	2.65	0.00	0.000	516	0.000	0.055	3129	570	1146	1124	1169	0	0	0	0	0	0	28.83	26.47	28.83
3555	0.55	166.3	3128	570	1124	1169	10.9	7.4	653	3573	0.00	2.67	9.38	0.493	9222	0.000	0.041	3129	1738	1080	1051	1109	0	0	0	0	0	0	28.83	26.52	25.96
3638	0.55	166.3	3128	1738	1051	1109	4.1	8.3	668	3644	0.00	2.75	0.00	0.000	516	0.000	0.053	3128	573	1080	1051	1109	0	0	0	0	0	0	28.83	26.41	28.83
3649	end climb: SURFACE_DEPTH_REACHED
state	3649	begin surface coast
3686	end surface coast: CONTROL_FINISHED_OK
state	3686	begin surface