Glider dive log

Shilshole 08Mar17 * SG038 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.0101 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 7 HD_C 9.8540004e-06 C_ROLL_DIVE 2253 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 15 HEADING -1 C_ROLL_CLIMB 2253 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 3101715 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3210 R_PORT_OVSHOOT 43 ALTIM_FREQUENCY 12

D_TGT 180 TGT_DEFAULT_LON -6430 R_STBD_OVSHOOT 27 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 2

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 200 INT_PRESSURE_YINT 1.2

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3900 DEEPGLIDER 1

D_SAFE 0 PROTOCOL 1 C_VBD 2070 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 80 CALL_TRIES 10 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_MISSION 100 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN 290 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS -15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50840 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_SLOITER 30 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 150 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

RELAUNCH 0 C_PITCH 3250 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.004410191

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00064652628

COURSE_BIAS 0 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.6235177e-05

GLIDE_SLOPE 20 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 3.227025e-06

SPEED_FACTOR 1 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_G -9.5423679

RHO 1.0233001 PITCH_TIMEOUT 17 PRESSURE_YINT -20.547415 SEABIRD_C_H 1.1030561

MASS 80211.703 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018197452

MASS_COMP 11240.1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021177332

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2945.9399

FERRY_MAX 45 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

KALMAN_USE 2 ROLL_MIN 150 COMPASS_USE 4

HD_A 0.0040549999 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SM_CC 300

AH0_10V 100 D_SURF 5 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 145 STOP_T 3101715

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 20 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 3210

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -6430

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0040549999 PITCH_W_GAIN 0 T_ABORT 120

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0 T_BOOST 0

CALL_NDIVES 1 HD_C 9.8540004e-06 PRESSURE_YINT -20.547415 T_DIVE 80

CALL_TRIES 10 HEADING -1 PROTOCOL 1 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS -15

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 100

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_NO_W 120

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 30

COMPASS_DEVICE 33 KALMAN_USE 2 RELAUNCH 0 T_TURN 290

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3250 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2253 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2253 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2070 MASS 80211.703 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 11240.1 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MIN 150 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 43 VBD_MAX 3900

DEVICE4 -1 MINV_24V 17 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 7 SEABIRD_C_G -9.5423679 VBD_MIN 200

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1030561 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 15 NAV_MODE 2 SEABIRD_C_I -0.0018197452 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 1090 NOCOMM_ACTION 384 SEABIRD_C_J 0.00021177332 VBD_TIMEOUT 720

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 2945.9399 W_ADJ_DBAND 2

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.004410191 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50840 SEABIRD_T_H 0.00064652628 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_I 2.6235177e-05 XPDR_VALID 2

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 3.227025e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 090317,095521,4743.2134,-12224.6729,3,1.0,19,16.3,0.0,0.0,9,5.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.47 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 090317,100242,4743.1943,-12224.6729,6,1.0,25,16.3,0.0,0.0,9,5.0 MHEAD_RNG_PITCHd_Wd 4.9,2427,-14.2,-7.500,-17.62,2973

SPEED_LIMITS 0.206,0.236 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.7,1.022125 _10V_AH 10.61,37.251

SM_CCo 4665,69.82,0.829,0,0,1037,300.08 FG_AHR_24Vo 0.000

SM_GC 1.28,8.68,0.00,69.82,0.079,0.000,0.829,137,2268,1037,-9.66,0.42,300.08,0,0,0,0,0,0,26.55,26.84,24.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,090317,082410 MEM 322932

TT8_MAMPS 0.02247,0.162533 DATA_FILE_SIZE 31270,508

HUMID 6.40 CAP_FILE_SIZE 80535,0

INTERNAL_PRESSURE 8.4952 CFSIZE 2047311872,2039709696

TCM_TEMP 7.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 INTR 0,92.78,0x237cae,0,24

ALTIM_TOP_PING 19.8,19.8 CURRENT 0.139,203.77,1

ALTIM_BOTTOM_PING 105.3,85.0 GPS 090317,112321,4743.416,-12224.526,27,0.8,43,16.3,0.0,0.0,10,4.6

_24V_AH 24.02,57.629

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 280 146.75 SBE_CT 341 23 190.57

Roll_motor 69 109 181.99 AA4330 672 13 217.90

VBD_pump_during_apogee 271 958 6257.29 nil 0 0 0.00

VBD_pump_during_surface 69 829 1390.94 nil 0 0 0.00

VBD_valve 222 151 810.58 nil 0 0 0.00

Iridium_during_init 26 126 79.97 nil 0 0 0.00

Iridium_during_connect 20 160 77.54 nil 0 0 0.00

Iridium_during_xfer 292 223 1566.91 nil 0 0 0.00

Transponder_ping 1 420 12.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 26 7.57

TT8 1358 15 222.90

LPSleep 1868 2 43.42

TT8_Active 620 15 101.87

TT8_Sampling 1270 41 561.70

TT8_CF8 73 64 49.69

TT8_Kalman 0 0 0.00

Analog_circuits 1209 10 128.36

GPS_charging 0 0 0.00

Compass 898 8 78.59

RAFOS 0 0 0.00

Transponder 11 30 3.77

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 int_press humidity

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

50 -0.75 -146.6 164 2255 1044 1028 1.6 -0.9 6 241 0.00 0.00 -187.98 0.142 16386 0.000 0.000 165 2255 2186 2220 2153 0 0 0 0 0 0 26.15 28.83 26.16 8.53 6.40

244 -0.75 -146.6 165 2255 2220 2153 3.3 -4.1 36 297 11.48 2.65 -34.83 0.151 18692 0.281 0.104 2992 3847 2575 2607 2544 0 0 0 0 0 0 25.51 25.67 25.63 8.64 6.40

330 -0.75 -146.6 2991 3847 2607 2544 12.8 -11.1 50 338 0.00 2.47 0.00 0.000 1030 0.000 0.082 2991 2248 2575 2607 2544 0 0 0 0 0 0 25.86 25.77 25.87 8.69 6.56

399 -0.75 -146.6 2991 2249 2606 2544 19.4 -9.5 63 406 0.00 2.45 0.00 0.000 516 0.000 0.094 2992 680 2574 2605 2544 0 0 0 0 0 0 26.14 25.84 26.15 8.69 6.21

483 -0.75 -146.6 2991 680 2605 2544 27.0 -9.0 72 492 0.00 2.47 0.00 0.000 1030 0.000 0.087 2981 2263 2574 2604 2544 0 0 0 0 0 0 26.04 25.96 26.06 8.68 6.29

613 -0.75 -146.6 2980 2263 2604 2544 39.4 -10.4 85 618 0.00 2.53 0.00 0.000 260 0.000 0.109 2970 3838 2573 2603 2544 0 0 0 0 0 0 26.36 26.05 26.36 8.68 6.52

725 -0.75 -146.6 2969 3838 2604 2544 51.7 -11.1 96 735 0.12 2.42 0.00 0.000 3078 0.194 0.082 3009 2254 2573 2603 2544 0 0 0 0 0 0 26.06 26.16 26.19 8.69 6.36

855 -0.75 -146.6 3008 2254 2603 2544 63.6 -8.8 109 859 0.00 2.45 0.00 0.000 516 0.000 0.094 3009 673 2573 2603 2544 0 0 0 0 0 0 26.51 26.20 26.51 8.69 6.44

916 -0.75 -146.6 3009 673 2602 2544 68.8 -8.3 115 921 0.00 2.45 0.00 0.000 1030 0.000 0.087 2999 2260 2573 2602 2544 0 0 0 0 0 0 26.32 26.22 26.34 8.69 6.25

1048 -0.75 -146.6 2999 2260 2602 2544 79.9 -8.3 128 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2260 2573 2602 2544 0 0 0 0 0 0 26.58 26.60 26.59 8.70 6.64

1168 -0.75 -146.6 2999 2260 2602 2544 89.7 -8.5 140 1177 0.00 2.50 0.00 0.000 260 0.000 0.107 2987 3840 2573 2602 2544 0 0 0 0 0 0 26.63 26.31 26.64 8.69 6.88

1239 -0.75 -146.6 2986 3839 2602 2543 95.4 -8.4 147 1244 0.00 2.42 0.00 0.000 1030 0.000 0.082 2987 2242 2572 2601 2544 0 0 0 0 0 0 26.46 26.37 26.47 8.69 7.00

1375 -0.75 -146.6 2987 2241 2601 2544 105.3 -7.6 160 1382 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2242 2573 2601 2545 0 0 0 0 0 0 26.67 26.68 26.68 8.69 6.64

1501 -0.75 -146.6 2987 2241 2601 2544 115.1 -8.3 173 1511 0.00 2.40 0.00 0.000 516 0.000 0.094 2987 673 2572 2600 2544 0 0 0 0 0 0 26.72 26.41 26.73 8.69 6.56

1576 -0.75 -146.6 2987 673 2600 2544 121.4 -8.8 180 1584 0.00 2.45 0.00 0.000 1030 0.000 0.084 2980 2261 2572 2600 2544 0 0 0 0 0 0 26.48 26.46 26.52 8.69 6.56

1704 -0.75 -146.6 2979 2261 2600 2544 131.6 -7.8 193 1714 0.00 2.45 0.00 0.000 516 0.000 0.092 2979 673 2572 2600 2544 0 0 0 0 0 0 26.76 26.45 26.77 8.69 6.56

1817 -0.75 -146.6 2979 673 2599 2544 140.3 -7.7 204 1827 0.12 2.42 0.00 0.000 3078 0.199 0.084 3009 2265 2571 2599 2544 0 0 0 0 0 0 26.40 26.48 26.53 8.69 6.88

1947 -0.75 -146.6 3009 2265 2599 2544 150.1 -7.7 217 1948 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2265 2571 2599 2544 0 0 0 0 0 0 26.80 26.82 26.81 8.69 6.80

2067 -0.75 -146.6 3008 2265 2599 2544 158.9 -9.0 229 2077 0.00 2.45 0.00 0.000 516 0.000 0.092 3010 672 2571 2599 2544 0 0 0 0 0 0 26.82 26.51 26.83 8.69 6.84

2123 -0.75 -146.6 3009 672 2598 2544 163.3 -8.3 234 2130 0.00 2.42 0.00 0.000 1030 0.000 0.087 3000 2263 2571 2599 2544 0 0 0 0 0 0 26.62 26.53 26.64 8.70 6.52

2249 -0.75 -146.6 2999 2263 2599 2544 174.9 -9.1 247 2250 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2263 2572 2600 2544 0 0 0 0 0 0 26.84 26.86 26.85 8.69 6.96

2278 end dive: TARGET_DEPTH_EXCEEDED

state 2278 begin apogee

2282 -0.25 0.0 2998 2263 2599 2544 177.3 -8.1 250 2391 0.50 0.00 104.68 0.958 10246 0.161 0.000 3170 2262 2070 2089 2052 0 0 0 0 0 0 26.47 24.91 24.34 8.69 6.64

2393 end apogee: CONTROL_FINISHED_OK

state 2393 begin climb

2394 0.75 146.6 3171 2263 2089 2052 180.0 0.0 261 2520 0.85 2.67 114.07 0.914 10756 0.132 0.094 3468 680 1564 1566 1563 0 0 0 0 0 0 24.97 24.60 24.02 8.65 6.48

2544 0.83 213.6 3467 680 1566 1563 173.4 5.2 276 2605 0.03 2.53 53.05 0.899 11270 0.164 0.084 3493 2242 1334 1338 1330 0 0 0 0 0 0 24.98 25.02 24.08 8.61 6.84

2723 0.83 213.6 3492 2242 1338 1329 161.0 7.4 294 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 3493 2242 1333 1337 1329 0 0 0 0 0 0 25.71 25.72 25.72 8.58 6.29

2843 0.88 213.6 3492 2242 1338 1328 151.8 6.8 306 2854 0.00 2.65 0.00 0.000 2308 0.000 0.107 3493 3852 1333 1339 1328 0 0 0 0 0 0 26.01 25.69 26.01 8.58 6.76

2876 0.88 213.6 3493 3851 1341 1328 148.9 8.6 309 2886 0.00 2.50 0.00 0.000 1030 0.000 0.082 3502 2249 1334 1340 1328 0 0 0 0 0 0 25.86 25.78 25.87 8.58 6.25

3006 0.88 213.6 3502 2249 1340 1328 138.1 7.3 322 3016 0.00 2.47 0.00 0.000 516 0.000 0.094 3513 673 1334 1340 1328 0 0 0 0 0 0 26.21 25.91 26.22 8.58 6.68

3119 0.88 213.6 3513 673 1340 1328 127.7 9.7 333 3128 0.00 2.47 0.00 0.000 1030 0.000 0.087 3513 2261 1334 1341 1328 0 0 0 0 0 0 26.12 26.03 26.13 8.58 6.48

3248 0.88 213.6 3512 2261 1340 1327 116.2 8.1 346 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 3513 2261 1334 1340 1328 0 0 0 0 0 0 26.41 26.42 26.42 8.58 6.48

3369 0.88 213.6 3513 2261 1340 1328 106.8 8.1 358 3379 0.00 2.50 0.00 0.000 516 0.000 0.094 3520 666 1334 1341 1328 0 0 0 0 0 0 26.48 26.17 26.48 8.57 6.60

3425 0.88 213.6 3520 666 1340 1328 102.3 8.2 363 3432 0.00 2.47 0.00 0.000 1030 0.000 0.087 3520 2263 1334 1341 1327 0 0 0 0 0 0 26.30 26.20 26.32 8.58 6.88

3551 0.88 213.6 3519 2263 1340 1328 90.7 8.9 376 3552 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2262 1334 1341 1327 0 0 0 0 0 0 26.55 26.58 26.57 8.58 6.29

3671 0.88 213.6 3520 2263 1341 1328 80.4 8.1 388 3672 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2263 1334 1340 1328 0 0 0 0 0 0 26.60 26.62 26.62 8.58 6.92

3791 0.88 213.6 3520 2263 1340 1328 70.5 8.5 400 3792 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2263 1334 1341 1328 0 0 0 0 0 0 26.65 26.66 26.65 8.58 7.11

3911 0.88 213.6 3520 2263 1340 1328 60.8 8.2 412 3912 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2263 1334 1341 1327 0 0 0 0 0 0 26.68 26.70 26.70 8.57 7.23

4031 0.88 213.6 3520 2263 1340 1328 51.7 8.3 424 4041 0.00 2.47 0.00 0.000 260 0.000 0.107 3520 3837 1334 1341 1328 0 0 0 0 0 0 26.72 26.40 26.72 8.58 6.44

4073 0.88 213.6 3520 3837 1341 1328 48.1 8.7 428 4084 0.00 2.42 0.00 0.000 1030 0.000 0.082 3529 2229 1334 1341 1328 0 0 0 0 0 0 26.53 26.45 26.54 8.57 6.40

4204 0.88 213.6 3528 2230 1342 1328 37.1 8.3 441 4205 0.00 0.00 0.00 0.000 6 0.000 0.000 3529 2229 1334 1341 1328 0 0 0 0 0 0 26.74 26.76 26.76 8.57 6.40

4324 0.88 213.6 3528 2229 1341 1328 27.1 8.8 453 4325 0.00 0.00 0.00 0.000 6 0.000 0.000 3529 2229 1334 1341 1327 0 0 0 0 0 0 26.77 26.79 26.78 8.57 6.96

4445 0.88 213.6 3528 2229 1341 1327 16.3 7.1 469 4452 0.00 2.35 0.00 0.000 516 0.000 0.094 3536 679 1334 1341 1328 0 0 0 0 0 0 26.79 26.48 26.81 8.57 6.44

4543 0.88 213.6 3536 679 1341 1328 8.2 7.9 488 4552 0.00 2.40 0.00 0.000 1030 0.000 0.087 3537 2268 1334 1341 1328 0 0 0 0 0 0 26.60 26.51 26.63 8.57 6.40

4582 end climb: SURFACE_DEPTH_REACHED

state 4582 begin surface coast

4649 end surface coast: CONTROL_FINISHED_OK

state 4649 begin surface

ID	38	HD_B	0.0101	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	7	HD_C	9.8540004e-06	C_ROLL_DIVE	2253	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	15	HEADING	-1	C_ROLL_CLIMB	2253	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	3101715	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3210	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	12
D_TGT	180	TGT_DEFAULT_LON	-6430	R_STBD_OVSHOOT	27	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	2
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	200	INT_PRESSURE_YINT	1.2
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3900	DEEPGLIDER	1
D_SAFE	0	PROTOCOL	1	C_VBD	2070	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	80	CALL_TRIES	10	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_MISSION	100	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN	290	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	-15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50840	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_SLOITER	30	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	150	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
RELAUNCH	0	C_PITCH	3250	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.004410191
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00064652628
COURSE_BIAS	0	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.6235177e-05
GLIDE_SLOPE	20	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	3.227025e-06
SPEED_FACTOR	1	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_G	-9.5423679
RHO	1.0233001	PITCH_TIMEOUT	17	PRESSURE_YINT	-20.547415	SEABIRD_C_H	1.1030561
MASS	80211.703	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018197452
MASS_COMP	11240.1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021177332
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2945.9399
FERRY_MAX	45	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
KALMAN_USE	2	ROLL_MIN	150	COMPASS_USE	4
HD_A	0.0040549999	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0

GPS1	090317,095521,4743.2134,-12224.6729,3,1.0,19,16.3,0.0,0.0,9,5.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.47	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	090317,100242,4743.1943,-12224.6729,6,1.0,25,16.3,0.0,0.0,9,5.0	MHEAD_RNG_PITCHd_Wd	4.9,2427,-14.2,-7.500,-17.62,2973
SPEED_LIMITS	0.206,0.236	D_GRID	177

FINISH	0.7,1.022125	_10V_AH	10.61,37.251
SM_CCo	4665,69.82,0.829,0,0,1037,300.08	FG_AHR_24Vo	0.000
SM_GC	1.28,8.68,0.00,69.82,0.079,0.000,0.829,137,2268,1037,-9.66,0.42,300.08,0,0,0,0,0,0,26.55,26.84,24.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,090317,082410	MEM	322932
TT8_MAMPS	0.02247,0.162533	DATA_FILE_SIZE	31270,508
HUMID	6.40	CAP_FILE_SIZE	80535,0
INTERNAL_PRESSURE	8.4952	CFSIZE	2047311872,2039709696
TCM_TEMP	7.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	INTR	0,92.78,0x237cae,0,24
ALTIM_TOP_PING	19.8,19.8	CURRENT	0.139,203.77,1
ALTIM_BOTTOM_PING	105.3,85.0	GPS	090317,112321,4743.416,-12224.526,27,0.8,43,16.3,0.0,0.0,10,4.6
_24V_AH	24.02,57.629

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	280	146.75	SBE_CT	341	23	190.57
Roll_motor	69	109	181.99	AA4330	672	13	217.90
VBD_pump_during_apogee	271	958	6257.29	nil	0	0	0.00
VBD_pump_during_surface	69	829	1390.94	nil	0	0	0.00
VBD_valve	222	151	810.58	nil	0	0	0.00
Iridium_during_init	26	126	79.97	nil	0	0	0.00
Iridium_during_connect	20	160	77.54	nil	0	0	0.00
Iridium_during_xfer	292	223	1566.91	nil	0	0	0.00
Transponder_ping	1	420	12.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	26	7.57
TT8	1358	15	222.90
LPSleep	1868	2	43.42
TT8_Active	620	15	101.87
TT8_Sampling	1270	41	561.70
TT8_CF8	73	64	49.69
TT8_Kalman	0	0	0.00
Analog_circuits	1209	10	128.36
GPS_charging	0	0	0.00
Compass	898	8	78.59
RAFOS	0	0	0.00
Transponder	11	30	3.77

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	int_press	humidity
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
50	-0.75	-146.6	164	2255	1044	1028	1.6	-0.9	6	241	0.00	0.00	-187.98	0.142	16386	0.000	0.000	165	2255	2186	2220	2153	0	0	0	0	0	0	26.15	28.83	26.16	8.53	6.40
244	-0.75	-146.6	165	2255	2220	2153	3.3	-4.1	36	297	11.48	2.65	-34.83	0.151	18692	0.281	0.104	2992	3847	2575	2607	2544	0	0	0	0	0	0	25.51	25.67	25.63	8.64	6.40
330	-0.75	-146.6	2991	3847	2607	2544	12.8	-11.1	50	338	0.00	2.47	0.00	0.000	1030	0.000	0.082	2991	2248	2575	2607	2544	0	0	0	0	0	0	25.86	25.77	25.87	8.69	6.56
399	-0.75	-146.6	2991	2249	2606	2544	19.4	-9.5	63	406	0.00	2.45	0.00	0.000	516	0.000	0.094	2992	680	2574	2605	2544	0	0	0	0	0	0	26.14	25.84	26.15	8.69	6.21
483	-0.75	-146.6	2991	680	2605	2544	27.0	-9.0	72	492	0.00	2.47	0.00	0.000	1030	0.000	0.087	2981	2263	2574	2604	2544	0	0	0	0	0	0	26.04	25.96	26.06	8.68	6.29
613	-0.75	-146.6	2980	2263	2604	2544	39.4	-10.4	85	618	0.00	2.53	0.00	0.000	260	0.000	0.109	2970	3838	2573	2603	2544	0	0	0	0	0	0	26.36	26.05	26.36	8.68	6.52
725	-0.75	-146.6	2969	3838	2604	2544	51.7	-11.1	96	735	0.12	2.42	0.00	0.000	3078	0.194	0.082	3009	2254	2573	2603	2544	0	0	0	0	0	0	26.06	26.16	26.19	8.69	6.36
855	-0.75	-146.6	3008	2254	2603	2544	63.6	-8.8	109	859	0.00	2.45	0.00	0.000	516	0.000	0.094	3009	673	2573	2603	2544	0	0	0	0	0	0	26.51	26.20	26.51	8.69	6.44
916	-0.75	-146.6	3009	673	2602	2544	68.8	-8.3	115	921	0.00	2.45	0.00	0.000	1030	0.000	0.087	2999	2260	2573	2602	2544	0	0	0	0	0	0	26.32	26.22	26.34	8.69	6.25
1048	-0.75	-146.6	2999	2260	2602	2544	79.9	-8.3	128	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2260	2573	2602	2544	0	0	0	0	0	0	26.58	26.60	26.59	8.70	6.64
1168	-0.75	-146.6	2999	2260	2602	2544	89.7	-8.5	140	1177	0.00	2.50	0.00	0.000	260	0.000	0.107	2987	3840	2573	2602	2544	0	0	0	0	0	0	26.63	26.31	26.64	8.69	6.88
1239	-0.75	-146.6	2986	3839	2602	2543	95.4	-8.4	147	1244	0.00	2.42	0.00	0.000	1030	0.000	0.082	2987	2242	2572	2601	2544	0	0	0	0	0	0	26.46	26.37	26.47	8.69	7.00
1375	-0.75	-146.6	2987	2241	2601	2544	105.3	-7.6	160	1382	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	2242	2573	2601	2545	0	0	0	0	0	0	26.67	26.68	26.68	8.69	6.64
1501	-0.75	-146.6	2987	2241	2601	2544	115.1	-8.3	173	1511	0.00	2.40	0.00	0.000	516	0.000	0.094	2987	673	2572	2600	2544	0	0	0	0	0	0	26.72	26.41	26.73	8.69	6.56
1576	-0.75	-146.6	2987	673	2600	2544	121.4	-8.8	180	1584	0.00	2.45	0.00	0.000	1030	0.000	0.084	2980	2261	2572	2600	2544	0	0	0	0	0	0	26.48	26.46	26.52	8.69	6.56
1704	-0.75	-146.6	2979	2261	2600	2544	131.6	-7.8	193	1714	0.00	2.45	0.00	0.000	516	0.000	0.092	2979	673	2572	2600	2544	0	0	0	0	0	0	26.76	26.45	26.77	8.69	6.56
1817	-0.75	-146.6	2979	673	2599	2544	140.3	-7.7	204	1827	0.12	2.42	0.00	0.000	3078	0.199	0.084	3009	2265	2571	2599	2544	0	0	0	0	0	0	26.40	26.48	26.53	8.69	6.88
1947	-0.75	-146.6	3009	2265	2599	2544	150.1	-7.7	217	1948	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2265	2571	2599	2544	0	0	0	0	0	0	26.80	26.82	26.81	8.69	6.80
2067	-0.75	-146.6	3008	2265	2599	2544	158.9	-9.0	229	2077	0.00	2.45	0.00	0.000	516	0.000	0.092	3010	672	2571	2599	2544	0	0	0	0	0	0	26.82	26.51	26.83	8.69	6.84
2123	-0.75	-146.6	3009	672	2598	2544	163.3	-8.3	234	2130	0.00	2.42	0.00	0.000	1030	0.000	0.087	3000	2263	2571	2599	2544	0	0	0	0	0	0	26.62	26.53	26.64	8.70	6.52
2249	-0.75	-146.6	2999	2263	2599	2544	174.9	-9.1	247	2250	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2263	2572	2600	2544	0	0	0	0	0	0	26.84	26.86	26.85	8.69	6.96
2278	end dive: TARGET_DEPTH_EXCEEDED
state	2278	begin apogee
2282	-0.25	0.0	2998	2263	2599	2544	177.3	-8.1	250	2391	0.50	0.00	104.68	0.958	10246	0.161	0.000	3170	2262	2070	2089	2052	0	0	0	0	0	0	26.47	24.91	24.34	8.69	6.64
2393	end apogee: CONTROL_FINISHED_OK
state	2393	begin climb
2394	0.75	146.6	3171	2263	2089	2052	180.0	0.0	261	2520	0.85	2.67	114.07	0.914	10756	0.132	0.094	3468	680	1564	1566	1563	0	0	0	0	0	0	24.97	24.60	24.02	8.65	6.48
2544	0.83	213.6	3467	680	1566	1563	173.4	5.2	276	2605	0.03	2.53	53.05	0.899	11270	0.164	0.084	3493	2242	1334	1338	1330	0	0	0	0	0	0	24.98	25.02	24.08	8.61	6.84
2723	0.83	213.6	3492	2242	1338	1329	161.0	7.4	294	2724	0.00	0.00	0.00	0.000	6	0.000	0.000	3493	2242	1333	1337	1329	0	0	0	0	0	0	25.71	25.72	25.72	8.58	6.29
2843	0.88	213.6	3492	2242	1338	1328	151.8	6.8	306	2854	0.00	2.65	0.00	0.000	2308	0.000	0.107	3493	3852	1333	1339	1328	0	0	0	0	0	0	26.01	25.69	26.01	8.58	6.76
2876	0.88	213.6	3493	3851	1341	1328	148.9	8.6	309	2886	0.00	2.50	0.00	0.000	1030	0.000	0.082	3502	2249	1334	1340	1328	0	0	0	0	0	0	25.86	25.78	25.87	8.58	6.25
3006	0.88	213.6	3502	2249	1340	1328	138.1	7.3	322	3016	0.00	2.47	0.00	0.000	516	0.000	0.094	3513	673	1334	1340	1328	0	0	0	0	0	0	26.21	25.91	26.22	8.58	6.68
3119	0.88	213.6	3513	673	1340	1328	127.7	9.7	333	3128	0.00	2.47	0.00	0.000	1030	0.000	0.087	3513	2261	1334	1341	1328	0	0	0	0	0	0	26.12	26.03	26.13	8.58	6.48
3248	0.88	213.6	3512	2261	1340	1327	116.2	8.1	346	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	3513	2261	1334	1340	1328	0	0	0	0	0	0	26.41	26.42	26.42	8.58	6.48
3369	0.88	213.6	3513	2261	1340	1328	106.8	8.1	358	3379	0.00	2.50	0.00	0.000	516	0.000	0.094	3520	666	1334	1341	1328	0	0	0	0	0	0	26.48	26.17	26.48	8.57	6.60
3425	0.88	213.6	3520	666	1340	1328	102.3	8.2	363	3432	0.00	2.47	0.00	0.000	1030	0.000	0.087	3520	2263	1334	1341	1327	0	0	0	0	0	0	26.30	26.20	26.32	8.58	6.88
3551	0.88	213.6	3519	2263	1340	1328	90.7	8.9	376	3552	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2262	1334	1341	1327	0	0	0	0	0	0	26.55	26.58	26.57	8.58	6.29
3671	0.88	213.6	3520	2263	1341	1328	80.4	8.1	388	3672	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2263	1334	1340	1328	0	0	0	0	0	0	26.60	26.62	26.62	8.58	6.92
3791	0.88	213.6	3520	2263	1340	1328	70.5	8.5	400	3792	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2263	1334	1341	1328	0	0	0	0	0	0	26.65	26.66	26.65	8.58	7.11
3911	0.88	213.6	3520	2263	1340	1328	60.8	8.2	412	3912	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2263	1334	1341	1327	0	0	0	0	0	0	26.68	26.70	26.70	8.57	7.23
4031	0.88	213.6	3520	2263	1340	1328	51.7	8.3	424	4041	0.00	2.47	0.00	0.000	260	0.000	0.107	3520	3837	1334	1341	1328	0	0	0	0	0	0	26.72	26.40	26.72	8.58	6.44
4073	0.88	213.6	3520	3837	1341	1328	48.1	8.7	428	4084	0.00	2.42	0.00	0.000	1030	0.000	0.082	3529	2229	1334	1341	1328	0	0	0	0	0	0	26.53	26.45	26.54	8.57	6.40
4204	0.88	213.6	3528	2230	1342	1328	37.1	8.3	441	4205	0.00	0.00	0.00	0.000	6	0.000	0.000	3529	2229	1334	1341	1328	0	0	0	0	0	0	26.74	26.76	26.76	8.57	6.40
4324	0.88	213.6	3528	2229	1341	1328	27.1	8.8	453	4325	0.00	0.00	0.00	0.000	6	0.000	0.000	3529	2229	1334	1341	1327	0	0	0	0	0	0	26.77	26.79	26.78	8.57	6.96
4445	0.88	213.6	3528	2229	1341	1327	16.3	7.1	469	4452	0.00	2.35	0.00	0.000	516	0.000	0.094	3536	679	1334	1341	1328	0	0	0	0	0	0	26.79	26.48	26.81	8.57	6.44
4543	0.88	213.6	3536	679	1341	1328	8.2	7.9	488	4552	0.00	2.40	0.00	0.000	1030	0.000	0.087	3537	2268	1334	1341	1328	0	0	0	0	0	0	26.60	26.51	26.63	8.57	6.40
4582	end climb: SURFACE_DEPTH_REACHED
state	4582	begin surface coast
4649	end surface coast: CONTROL_FINISHED_OK
state	4649	begin surface