Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1850 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1850 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 300 R_STBD_OVSHOOT 33 XPDR_VALID 6

D_BOOST 3 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 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 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 -721906.25 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 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 3 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 138 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2558 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

RHO 1.0233001 P_OVSHOOT 0.02 PRESSURE_YINT -162.90207 SEABIRD_T_J 2.1565418e-06

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 300

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 2 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 200 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 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 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 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721906.25

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2558 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1850 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1850 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 33 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 3 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 041115,205923,4742.772,-12224.472,31,1.1,42,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041115,210338,4742.776,-12224.479,13,2.3,33,18.2 MHEAD_RNG_PITCHd_Wd 4.8,3193,-13.8,-7.407,-17.44,3006

SPEED_LIMITS 0.128,0.236 D_GRID 173

Post-dive calculations and measurements:

FINISH 1.4,1.019576 _10V_AH 10.5,0.185

SM_CCo 3734,53.47,0.054,0,0,910,300.18 FG_AHR_24Vo 0.000

SM_GC 1.90,7.03,0.00,53.47,0.055,0.000,0.054,127,1863,910,-7.55,0.37,300.18,0,0,0,0,0,0,26.40,28.83,26.38 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,310808,101039 MEM 323380

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 33528,690

HUMID 50.03 CAP_FILE_SIZE 104617,0

INTERNAL_PRESSURE 8.81239 CFSIZE 260165632,257445888

TCM_TEMP 20.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.033,331.7,1

ALTIM_BOTTOM_PING 135.3,55.1 GPS 041115,220816,4743.267,-12224.210,26,1.8,26,18.2

_24V_AH 24.4,0.335

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 255 109.73 SBE_CT 465 23 271.99

Roll_motor 61 62 93.37 WL_BB2FLVMG 507 105 1299.25

VBD_pump_during_apogee 246 652 3921.61 nil 0 0 0.00

VBD_pump_during_surface 53 53 69.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 25.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 30 11.18

TT8 1606 11 193.31

LPSleep 674 2 15.51

TT8_Active 437 11 52.63

TT8_Sampling 1036 39 426.60

TT8_CF8 126 45 60.94

TT8_Kalman 0 0 0.00

Analog_circuits 1010 17 180.37

GPS_charging 0 0 0.00

Compass 996 15 164.64

RAFOS 0 0 0.00

Transponder 19 30 6.13

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

16 -0.63 -146.6 130 1862 897 907 0.0 0.0 0 58 0.00 0.00 -39.75 0.000 16386 0.000 0.000 130 1862 2089 2069 2109 0 0 0 0 0 0 28.83 28.83 28.83

61 -0.63 -146.6 130 1862 2070 2109 3.1 -4.3 7 92 8.93 2.25 -13.27 0.000 18948 0.256 0.063 2353 433 2693 2696 2690 0 0 0 0 0 0 25.77 26.10 26.42

124 -0.63 -146.6 1472 433 2630 2682 12.9 -15.1 18 131 0.00 2.20 0.00 0.000 1030 0.000 0.037 2344 1864 2693 2696 2691 0 0 0 0 0 0 28.83 26.14 28.83

194 -0.63 -146.6 2343 1865 2698 2691 23.2 -14.5 31 200 0.00 2.15 0.00 0.000 260 0.000 0.047 2333 3261 2694 2698 2691 0 0 0 0 0 0 28.83 26.15 28.83

278 -0.63 -146.6 2333 3261 2698 2691 36.1 -14.9 47 285 0.00 2.15 0.00 0.000 1030 0.000 0.034 2333 1841 2695 2699 2691 0 0 0 0 0 0 28.83 26.24 28.83

348 -0.63 -146.6 2333 1840 2699 2691 47.0 -15.8 60 354 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 1840 2695 2699 2691 0 0 0 0 0 0 28.83 28.83 28.83

478 -0.63 -146.6 2333 1840 2699 2691 67.0 -15.1 85 484 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 1839 2695 2699 2691 0 0 0 0 0 0 28.83 28.83 28.83

606 -0.63 -146.6 1440 1838 2633 2683 86.4 -15.0 110 612 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 1839 2695 2699 2691 0 0 0 0 0 0 28.83 28.83 28.83

734 -0.63 -146.6 2333 1840 2699 2691 106.3 -14.9 135 740 0.00 2.17 0.00 0.000 260 0.000 0.045 2323 3257 2695 2699 2691 0 0 0 0 0 0 28.83 26.35 28.83

775 -0.63 -146.6 2323 3257 2699 2691 112.6 -15.2 142 782 0.15 2.12 0.00 0.000 3078 0.160 0.034 2362 1844 2695 2699 2691 0 0 0 0 0 0 26.22 26.40 28.83

911 -0.63 -146.6 2362 1843 2699 2691 130.3 -12.8 167 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 1844 2695 2699 2691 0 0 0 0 0 0 28.83 28.83 28.83

1044 -0.63 -146.6 2362 1844 2699 2691 147.6 -13.1 192 1051 0.00 2.17 0.00 0.000 260 0.000 0.046 2354 3262 2695 2699 2691 0 0 0 0 0 0 28.83 26.41 28.83

1074 -0.63 -146.6 2354 3261 2699 2691 152.1 -14.8 197 1081 0.00 2.12 0.00 0.000 1030 0.000 0.034 2354 1845 2695 2699 2691 0 0 0 0 0 0 28.83 26.45 28.83

1205 -0.63 -146.6 2354 1845 2699 2691 169.9 -13.2 222 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 1843 2695 2699 2691 0 0 0 0 0 0 28.83 28.83 28.83

1226 end dive: TARGET_DEPTH_EXCEEDED

state 1226 begin apogee

1231 -0.18 0.0 2354 1845 2699 2691 173.2 -13.0 226 1347 0.43 0.00 109.78 0.653 10246 0.135 0.000 2497 1843 2106 2149 2063 0 0 0 0 0 0 26.31 28.83 24.65

1348 end apogee: CONTROL_FINISHED_OK

state 1348 begin climb

1351 0.63 146.6 2497 1843 2148 2061 179.8 0.0 246 1471 0.77 0.00 114.28 0.643 10758 0.094 0.000 2763 1843 1521 1573 1469 0 0 0 0 0 0 25.22 28.83 24.37

1595 0.63 146.6 2763 1843 1568 1464 167.2 7.7 291 1602 0.00 2.25 0.00 0.000 260 0.000 0.046 2763 3262 1515 1567 1464 0 0 0 0 0 0 28.83 25.63 28.83

1625 0.63 146.6 2763 3262 1567 1463 164.6 8.9 296 1632 0.00 2.22 0.00 0.000 1030 0.000 0.040 2772 1846 1514 1567 1462 0 0 0 0 0 0 28.83 25.72 28.83

1757 0.63 146.6 2772 1846 1567 1462 154.1 7.6 321 1764 0.00 2.22 0.00 0.000 516 0.000 0.053 2783 440 1514 1566 1462 0 0 0 0 0 0 28.83 25.91 28.83

1857 0.63 146.6 2783 440 1565 1461 145.1 9.1 340 1864 0.00 2.17 0.00 0.000 1030 0.000 0.037 2783 1852 1513 1565 1461 0 0 0 0 0 0 28.83 26.05 28.83

1989 0.63 146.6 2783 1854 1565 1461 133.3 9.3 365 1995 0.00 2.22 0.00 0.000 516 0.000 0.051 2793 440 1513 1565 1461 0 0 0 0 0 0 28.83 26.12 28.83

2034 0.63 146.6 2793 440 1564 1461 129.0 8.9 373 2041 0.15 2.17 0.00 0.000 5126 0.159 0.037 2754 1860 1512 1564 1461 0 0 0 0 0 0 26.03 26.17 28.83

2165 0.63 150.8 1728 1859 1523 1457 120.1 7.3 398 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 1861 1512 1564 1461 0 0 0 0 0 0 28.83 28.83 28.83

2294 0.64 160.0 2753 1862 1565 1461 111.4 7.1 423 2313 0.00 2.28 10.65 0.546 8708 0.000 0.050 2763 447 1469 1520 1418 0 0 0 0 0 0 28.83 26.14 25.56

2371 0.64 160.0 2763 447 1519 1417 105.7 8.0 437 2378 0.00 2.15 0.00 0.000 1030 0.000 0.037 2763 1851 1467 1518 1417 0 0 0 0 0 0 28.83 26.21 28.83

2502 0.64 160.0 2763 1853 1518 1417 96.3 7.9 462 2508 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1853 1467 1518 1417 0 0 0 0 0 0 28.83 28.83 28.83

2631 0.64 160.0 2763 1853 1518 1417 86.0 7.9 487 2637 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1853 1467 1518 1417 0 0 0 0 0 0 28.83 28.83 28.83

2759 0.64 160.0 1760 1851 1480 1412 75.4 7.9 512 2766 0.00 2.20 0.00 0.000 516 0.000 0.050 2773 434 1467 1518 1417 0 0 0 0 0 0 28.83 26.34 28.83

2799 0.64 160.0 2773 434 1518 1416 72.0 8.7 519 2806 0.00 2.17 0.00 0.000 1030 0.000 0.037 2773 1861 1466 1517 1416 0 0 0 0 0 0 28.83 26.38 28.83

2930 0.64 160.0 1744 1860 1478 1412 62.0 7.5 544 2937 0.00 2.15 0.00 0.000 260 0.000 0.048 2773 3267 1466 1517 1416 0 0 0 0 0 0 28.83 26.38 28.83

2965 0.64 160.0 2773 3268 1517 1416 59.1 8.6 550 2971 0.00 2.17 0.00 0.000 1030 0.000 0.037 2782 1834 1466 1517 1416 0 0 0 0 0 0 28.83 26.41 28.83

3096 0.64 165.9 2782 1833 1517 1416 49.0 7.2 575 3109 0.00 2.17 5.97 0.467 8708 0.000 0.049 2793 433 1446 1496 1396 0 0 0 0 0 0 28.83 26.35 25.76

3182 0.64 165.9 2793 433 1495 1395 42.0 8.5 591 3189 0.00 2.15 0.00 0.000 1030 0.000 0.036 2793 1853 1445 1496 1395 0 0 0 0 0 0 28.83 26.41 28.83

3313 0.64 165.9 2793 1854 1494 1395 31.3 8.5 616 3321 0.00 2.17 0.00 0.000 516 0.000 0.050 2803 443 1445 1495 1395 0 0 0 0 0 0 28.83 26.41 28.83

3364 0.64 165.9 2802 443 1495 1395 26.7 9.1 625 3371 0.15 2.15 0.00 0.000 5126 0.159 0.037 2762 1862 1445 1495 1395 0 0 0 0 0 0 26.29 26.44 28.83

3434 0.64 165.9 1764 1862 1458 1392 21.3 7.4 638 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 1863 1445 1495 1395 0 0 0 0 0 0 28.83 28.83 28.83

3502 0.65 175.8 2762 1864 1494 1395 16.4 7.1 651 3516 0.00 2.15 5.62 0.403 8452 0.000 0.046 2762 3262 1405 1455 1355 0 0 0 0 0 0 28.83 26.39 25.84

3554 0.65 175.8 2762 3262 1454 1352 12.6 7.6 660 3561 0.00 2.15 0.00 0.000 1030 0.000 0.037 2770 1841 1403 1454 1352 0 0 0 0 0 0 28.83 26.43 28.83

3625 0.65 175.8 2770 1841 1453 1351 7.2 9.0 673 3631 0.00 2.15 0.00 0.000 516 0.000 0.050 2781 441 1401 1453 1350 0 0 0 0 0 0 28.83 26.41 28.83

3659 0.65 175.8 2780 441 1453 1350 3.9 8.7 679 3666 0.00 2.15 0.00 0.000 1030 0.000 0.037 2780 1861 1401 1452 1350 0 0 0 0 0 0 28.83 26.45 28.83

3685 end climb: SURFACE_DEPTH_REACHED

state 3685 begin surface coast

3717 end surface coast: CONTROL_FINISHED_OK

state 3717 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1850	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1850	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	300	R_STBD_OVSHOOT	33	XPDR_VALID	6
D_BOOST	3	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	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	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	-721906.25	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	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	3	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	138	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2558	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	041115,205923,4742.772,-12224.472,31,1.1,42,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041115,210338,4742.776,-12224.479,13,2.3,33,18.2	MHEAD_RNG_PITCHd_Wd	4.8,3193,-13.8,-7.407,-17.44,3006
SPEED_LIMITS	0.128,0.236	D_GRID	173

FINISH	1.4,1.019576	_10V_AH	10.5,0.185
SM_CCo	3734,53.47,0.054,0,0,910,300.18	FG_AHR_24Vo	0.000
SM_GC	1.90,7.03,0.00,53.47,0.055,0.000,0.054,127,1863,910,-7.55,0.37,300.18,0,0,0,0,0,0,26.40,28.83,26.38	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,310808,101039	MEM	323380
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	33528,690
HUMID	50.03	CAP_FILE_SIZE	104617,0
INTERNAL_PRESSURE	8.81239	CFSIZE	260165632,257445888
TCM_TEMP	20.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.033,331.7,1
ALTIM_BOTTOM_PING	135.3,55.1	GPS	041115,220816,4743.267,-12224.210,26,1.8,26,18.2
_24V_AH	24.4,0.335

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	255	109.73	SBE_CT	465	23	271.99
Roll_motor	61	62	93.37	WL_BB2FLVMG	507	105	1299.25
VBD_pump_during_apogee	246	652	3921.61	nil	0	0	0.00
VBD_pump_during_surface	53	53	69.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	25.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	30	11.18
TT8	1606	11	193.31
LPSleep	674	2	15.51
TT8_Active	437	11	52.63
TT8_Sampling	1036	39	426.60
TT8_CF8	126	45	60.94
TT8_Kalman	0	0	0.00
Analog_circuits	1010	17	180.37
GPS_charging	0	0	0.00
Compass	996	15	164.64
RAFOS	0	0	0.00
Transponder	19	30	6.13

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
16	-0.63	-146.6	130	1862	897	907	0.0	0.0	0	58	0.00	0.00	-39.75	0.000	16386	0.000	0.000	130	1862	2089	2069	2109	0	0	0	0	0	0	28.83	28.83	28.83
61	-0.63	-146.6	130	1862	2070	2109	3.1	-4.3	7	92	8.93	2.25	-13.27	0.000	18948	0.256	0.063	2353	433	2693	2696	2690	0	0	0	0	0	0	25.77	26.10	26.42
124	-0.63	-146.6	1472	433	2630	2682	12.9	-15.1	18	131	0.00	2.20	0.00	0.000	1030	0.000	0.037	2344	1864	2693	2696	2691	0	0	0	0	0	0	28.83	26.14	28.83
194	-0.63	-146.6	2343	1865	2698	2691	23.2	-14.5	31	200	0.00	2.15	0.00	0.000	260	0.000	0.047	2333	3261	2694	2698	2691	0	0	0	0	0	0	28.83	26.15	28.83
278	-0.63	-146.6	2333	3261	2698	2691	36.1	-14.9	47	285	0.00	2.15	0.00	0.000	1030	0.000	0.034	2333	1841	2695	2699	2691	0	0	0	0	0	0	28.83	26.24	28.83
348	-0.63	-146.6	2333	1840	2699	2691	47.0	-15.8	60	354	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	1840	2695	2699	2691	0	0	0	0	0	0	28.83	28.83	28.83
478	-0.63	-146.6	2333	1840	2699	2691	67.0	-15.1	85	484	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	1839	2695	2699	2691	0	0	0	0	0	0	28.83	28.83	28.83
606	-0.63	-146.6	1440	1838	2633	2683	86.4	-15.0	110	612	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	1839	2695	2699	2691	0	0	0	0	0	0	28.83	28.83	28.83
734	-0.63	-146.6	2333	1840	2699	2691	106.3	-14.9	135	740	0.00	2.17	0.00	0.000	260	0.000	0.045	2323	3257	2695	2699	2691	0	0	0	0	0	0	28.83	26.35	28.83
775	-0.63	-146.6	2323	3257	2699	2691	112.6	-15.2	142	782	0.15	2.12	0.00	0.000	3078	0.160	0.034	2362	1844	2695	2699	2691	0	0	0	0	0	0	26.22	26.40	28.83
911	-0.63	-146.6	2362	1843	2699	2691	130.3	-12.8	167	916	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	1844	2695	2699	2691	0	0	0	0	0	0	28.83	28.83	28.83
1044	-0.63	-146.6	2362	1844	2699	2691	147.6	-13.1	192	1051	0.00	2.17	0.00	0.000	260	0.000	0.046	2354	3262	2695	2699	2691	0	0	0	0	0	0	28.83	26.41	28.83
1074	-0.63	-146.6	2354	3261	2699	2691	152.1	-14.8	197	1081	0.00	2.12	0.00	0.000	1030	0.000	0.034	2354	1845	2695	2699	2691	0	0	0	0	0	0	28.83	26.45	28.83
1205	-0.63	-146.6	2354	1845	2699	2691	169.9	-13.2	222	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	1843	2695	2699	2691	0	0	0	0	0	0	28.83	28.83	28.83
1226	end dive: TARGET_DEPTH_EXCEEDED
state	1226	begin apogee
1231	-0.18	0.0	2354	1845	2699	2691	173.2	-13.0	226	1347	0.43	0.00	109.78	0.653	10246	0.135	0.000	2497	1843	2106	2149	2063	0	0	0	0	0	0	26.31	28.83	24.65
1348	end apogee: CONTROL_FINISHED_OK
state	1348	begin climb
1351	0.63	146.6	2497	1843	2148	2061	179.8	0.0	246	1471	0.77	0.00	114.28	0.643	10758	0.094	0.000	2763	1843	1521	1573	1469	0	0	0	0	0	0	25.22	28.83	24.37
1595	0.63	146.6	2763	1843	1568	1464	167.2	7.7	291	1602	0.00	2.25	0.00	0.000	260	0.000	0.046	2763	3262	1515	1567	1464	0	0	0	0	0	0	28.83	25.63	28.83
1625	0.63	146.6	2763	3262	1567	1463	164.6	8.9	296	1632	0.00	2.22	0.00	0.000	1030	0.000	0.040	2772	1846	1514	1567	1462	0	0	0	0	0	0	28.83	25.72	28.83
1757	0.63	146.6	2772	1846	1567	1462	154.1	7.6	321	1764	0.00	2.22	0.00	0.000	516	0.000	0.053	2783	440	1514	1566	1462	0	0	0	0	0	0	28.83	25.91	28.83
1857	0.63	146.6	2783	440	1565	1461	145.1	9.1	340	1864	0.00	2.17	0.00	0.000	1030	0.000	0.037	2783	1852	1513	1565	1461	0	0	0	0	0	0	28.83	26.05	28.83
1989	0.63	146.6	2783	1854	1565	1461	133.3	9.3	365	1995	0.00	2.22	0.00	0.000	516	0.000	0.051	2793	440	1513	1565	1461	0	0	0	0	0	0	28.83	26.12	28.83
2034	0.63	146.6	2793	440	1564	1461	129.0	8.9	373	2041	0.15	2.17	0.00	0.000	5126	0.159	0.037	2754	1860	1512	1564	1461	0	0	0	0	0	0	26.03	26.17	28.83
2165	0.63	150.8	1728	1859	1523	1457	120.1	7.3	398	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	1861	1512	1564	1461	0	0	0	0	0	0	28.83	28.83	28.83
2294	0.64	160.0	2753	1862	1565	1461	111.4	7.1	423	2313	0.00	2.28	10.65	0.546	8708	0.000	0.050	2763	447	1469	1520	1418	0	0	0	0	0	0	28.83	26.14	25.56
2371	0.64	160.0	2763	447	1519	1417	105.7	8.0	437	2378	0.00	2.15	0.00	0.000	1030	0.000	0.037	2763	1851	1467	1518	1417	0	0	0	0	0	0	28.83	26.21	28.83
2502	0.64	160.0	2763	1853	1518	1417	96.3	7.9	462	2508	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1853	1467	1518	1417	0	0	0	0	0	0	28.83	28.83	28.83
2631	0.64	160.0	2763	1853	1518	1417	86.0	7.9	487	2637	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1853	1467	1518	1417	0	0	0	0	0	0	28.83	28.83	28.83
2759	0.64	160.0	1760	1851	1480	1412	75.4	7.9	512	2766	0.00	2.20	0.00	0.000	516	0.000	0.050	2773	434	1467	1518	1417	0	0	0	0	0	0	28.83	26.34	28.83
2799	0.64	160.0	2773	434	1518	1416	72.0	8.7	519	2806	0.00	2.17	0.00	0.000	1030	0.000	0.037	2773	1861	1466	1517	1416	0	0	0	0	0	0	28.83	26.38	28.83
2930	0.64	160.0	1744	1860	1478	1412	62.0	7.5	544	2937	0.00	2.15	0.00	0.000	260	0.000	0.048	2773	3267	1466	1517	1416	0	0	0	0	0	0	28.83	26.38	28.83
2965	0.64	160.0	2773	3268	1517	1416	59.1	8.6	550	2971	0.00	2.17	0.00	0.000	1030	0.000	0.037	2782	1834	1466	1517	1416	0	0	0	0	0	0	28.83	26.41	28.83
3096	0.64	165.9	2782	1833	1517	1416	49.0	7.2	575	3109	0.00	2.17	5.97	0.467	8708	0.000	0.049	2793	433	1446	1496	1396	0	0	0	0	0	0	28.83	26.35	25.76
3182	0.64	165.9	2793	433	1495	1395	42.0	8.5	591	3189	0.00	2.15	0.00	0.000	1030	0.000	0.036	2793	1853	1445	1496	1395	0	0	0	0	0	0	28.83	26.41	28.83
3313	0.64	165.9	2793	1854	1494	1395	31.3	8.5	616	3321	0.00	2.17	0.00	0.000	516	0.000	0.050	2803	443	1445	1495	1395	0	0	0	0	0	0	28.83	26.41	28.83
3364	0.64	165.9	2802	443	1495	1395	26.7	9.1	625	3371	0.15	2.15	0.00	0.000	5126	0.159	0.037	2762	1862	1445	1495	1395	0	0	0	0	0	0	26.29	26.44	28.83
3434	0.64	165.9	1764	1862	1458	1392	21.3	7.4	638	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	1863	1445	1495	1395	0	0	0	0	0	0	28.83	28.83	28.83
3502	0.65	175.8	2762	1864	1494	1395	16.4	7.1	651	3516	0.00	2.15	5.62	0.403	8452	0.000	0.046	2762	3262	1405	1455	1355	0	0	0	0	0	0	28.83	26.39	25.84
3554	0.65	175.8	2762	3262	1454	1352	12.6	7.6	660	3561	0.00	2.15	0.00	0.000	1030	0.000	0.037	2770	1841	1403	1454	1352	0	0	0	0	0	0	28.83	26.43	28.83
3625	0.65	175.8	2770	1841	1453	1351	7.2	9.0	673	3631	0.00	2.15	0.00	0.000	516	0.000	0.050	2781	441	1401	1453	1350	0	0	0	0	0	0	28.83	26.41	28.83
3659	0.65	175.8	2780	441	1453	1350	3.9	8.7	679	3666	0.00	2.15	0.00	0.000	1030	0.000	0.037	2780	1861	1401	1452	1350	0	0	0	0	0	0	28.83	26.45	28.83
3685	end climb: SURFACE_DEPTH_REACHED
state	3685	begin surface coast
3717	end surface coast: CONTROL_FINISHED_OK
state	3717	begin surface