Glider dive log

Shilshole 07Feb17 * SG039 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 39 HD_B 0.011518 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 14 HD_C 1.6100001e-05 C_ROLL_DIVE 2048 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 4 HEADING -1 C_ROLL_CLIMB 2048 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 62 ALTIM_FREQUENCY 13

D_TGT 90 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 76 ALTIM_PULSE 3

D_ABORT 6000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 600 ROLL_MAXERRORS 2 XPDR_VALID 1

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 140 INT_PRESSURE_YINT -2.5

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3900 DEEPGLIDER 1

D_SAFE 0 PROTOCOL 9 C_VBD 2345 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 60 CALL_TRIES 10 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_MISSION 90 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN 540 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 3 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS -15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 100840 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_SLOITER 60 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 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 0.0099999998 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 3910 MINV_24V 17 SIM_W 0

RELAUNCH 0 C_PITCH 2480 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0044020778

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00064109167

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.6113514e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.207555e-06

SPEED_FACTOR 1 PITCH_GAIN 17 PHONE_SUPPLY 2 SEABIRD_C_G -9.7950287

RHO 1.0275 PITCH_TIMEOUT 20 PRESSURE_YINT -20.786182 SEABIRD_C_H 1.1392668

MASS 78467 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0017858738

MASS_COMP 9200.2002 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021101594

NAV_MODE 1 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.5898

FERRY_MAX 45 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

KALMAN_USE 2 ROLL_MIN 245 COMPASS_USE 4

HD_A 0.0047458 ROLL_MAX 3845 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SM_CC 600

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

AH0_24V 150 D_TGT 90 PITCH_AD_RATE 145 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 17 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3910 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0047458 PITCH_W_GAIN 0 T_ABORT 120

APOGEE_PITCH -5 HD_B 0.011518 PRESSURE_SLOPE 0 T_BOOST 0

CALL_NDIVES 1 HD_C 1.6100001e-05 PRESSURE_YINT -20.786182 T_DIVE 60

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_GPS -15

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.0099999998 RAFOS_CORR_THRESH 60 T_MISSION 90

CF8_MAXERRORS 2 ID 39 RAFOS_DEVICE -1 T_NO_W 120

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -2.5 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 60

COMPASS_DEVICE 33 KALMAN_USE 2 RELAUNCH 0 T_TURN 540

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2480 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2048 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2345 MASS 78467 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 9200.2002 ROLL_MAX 3845 VBD_BLEED_AD_RATE 3

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MIN 245 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 62 VBD_MAX 3900

DEVICE4 -1 MINV_24V 17 R_STBD_OVSHOOT 76 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 14 SEABIRD_C_G -9.7950287 VBD_MIN 140

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1392668 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 4 NAV_MODE 1 SEABIRD_C_I -0.0017858738 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_J 0.00021101594 VBD_TIMEOUT 720

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 2936.5898 W_ADJ_DBAND 2

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044020778 XPDR_DEVICE 24

D_FINISH 0 N_GPS 100840 SEABIRD_T_H 0.00064109167 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_I 2.6113514e-05 XPDR_VALID 1

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_J 3.207555e-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 070217,232012,4742.8833,-12225.5352,3,0.9,12,16.3,0.0,0.0,9,9.3 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 1.69 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -25.4 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070217,232525,4742.8945,-12225.5449,6,0.9,14,16.3,0.0,0.0,9,9.0 MHEAD_RNG_PITCHd_Wd 7.3,3246,-10.1,-5.000,-14.71,4399

SPEED_LIMITS 0.050,0.190 D_GRID 90

Post-dive calculations and measurements:

FINISH 1.2,1.015251 _10V_AH 10.29,10.101

SM_CCo 3708,296.55,0.772,0,0,280,600.15 FG_AHR_24Vo 0.000

SM_GC 1.84,6.55,0.00,296.55,0.065,0.000,0.772,131,1983,280,-7.21,-1.84,600.15,0,0,0,0,0,0,26.60,26.89,24.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,070217,222943 MEM 323140

TT8_MAMPS 0.023219,0.19474 DATA_FILE_SIZE 27849,448

HUMID 9.48 CAP_FILE_SIZE 69526,0

INTERNAL_PRESSURE 8.57464 CFSIZE 2047311872,2040758272

TCM_TEMP 8.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 WARN PPS timeout

ALTIM_TOP_PING 20.0,19.5 GPS 080217,003419,4743.573,-12225.210,5,0.9,59,16.3,0.0,0.0,9,12.8

_24V_AH 24.17,7.848

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 235 115.88 SBE_CT 294 23 165.08

Roll_motor 59 69 99.82 AA4330 588 13 191.77

VBD_pump_during_apogee 291 849 5987.60 nil 0 0 0.00

VBD_pump_during_surface 296 772 5534.92 nil 0 0 0.00

VBD_valve 447 151 1639.52 nil 0 0 0.00

Iridium_during_init 22 12 6.79 nil 0 0 0.00

Iridium_during_connect 16 160 64.44 nil 0 0 0.00

Iridium_during_xfer 179 223 966.46 nil 0 0 0.00

Transponder_ping 0 420 5.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.48

TT8 995 11 120.01

LPSleep 1215 2 27.38

TT8_Active 1021 11 123.25

TT8_Sampling 1014 35 372.44

TT8_CF8 92 44 42.49

TT8_Kalman 0 0 0.00

Analog_circuits 1556 10 160.12

GPS_charging 0 0 0.00

Compass 776 8 65.84

RAFOS 0 0 0.00

Transponder 2 30 0.85

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

79 -0.64 -146.0 126 2028 187 368 1.5 0.2 12 430 0.00 0.00 -346.27 0.149 16386 0.000 0.000 126 2029 2188 2147 2229 0 0 0 0 0 0 26.21 28.83 26.22 8.64 9.36

433 -0.64 -146.0 127 2029 2148 2230 3.0 -0.5 70 555 12.43 0.00 -101.57 0.151 18950 0.236 0.000 2271 2027 2847 2810 2884 0 0 0 0 0 0 25.46 25.63 25.53 8.84 9.20

616 -0.64 -146.0 2270 2027 2810 2884 11.0 -6.3 102 623 0.00 2.30 0.00 0.000 516 0.000 0.065 2271 478 2847 2810 2884 0 0 0 0 0 0 26.17 25.88 26.19 8.91 9.52

646 -0.58 -146.0 2270 478 2810 2884 12.9 -6.5 107 653 0.00 2.25 0.00 0.000 1030 0.000 0.052 2262 2059 2847 2810 2884 0 0 0 0 0 0 26.05 26.01 26.06 8.91 9.44

716 -0.58 -146.0 2262 2059 2811 2884 18.4 -8.1 120 723 0.08 2.33 0.00 0.000 2308 0.196 0.065 2281 3612 2847 2810 2884 0 0 0 0 0 0 25.94 26.01 25.99 8.91 9.32

803 -0.58 -146.0 2280 3612 2810 2884 25.2 -8.2 130 811 0.00 2.28 0.00 0.000 1030 0.000 0.052 2282 2027 2847 2810 2884 0 0 0 0 0 0 26.20 26.18 26.22 8.91 9.32

931 -0.58 -146.0 2281 2027 2810 2884 35.5 -7.5 143 940 0.00 2.25 0.00 0.000 516 0.000 0.067 2281 486 2847 2810 2884 0 0 0 0 0 0 26.51 26.20 26.53 8.91 9.08

1015 -0.58 -146.0 2281 486 2810 2884 41.7 -7.3 151 1022 0.00 2.20 0.00 0.000 1030 0.000 0.052 2271 2056 2847 2810 2884 0 0 0 0 0 0 26.37 26.33 26.39 8.91 9.55

1142 -0.58 -146.0 2271 2056 2810 2884 50.7 -7.1 164 1151 0.00 2.30 0.00 0.000 516 0.000 0.065 2271 485 2847 2810 2885 0 0 0 0 0 0 26.63 26.31 26.64 8.91 9.44

1216 -0.58 -146.0 2271 485 2810 2884 55.7 -7.0 171 1224 0.10 2.22 0.00 0.000 3078 0.144 0.052 2292 2059 2847 2810 2884 0 0 0 0 0 0 26.19 26.44 26.26 8.91 9.59

1344 -0.58 -146.0 2291 2059 2810 2884 64.1 -7.3 184 1353 0.00 2.28 0.00 0.000 260 0.000 0.067 2282 3609 2847 2810 2884 0 0 0 0 0 0 26.71 26.38 26.72 8.91 9.87

1375 -0.58 -146.0 2282 3609 2810 2884 66.5 -7.6 187 1384 0.00 2.20 0.00 0.000 1030 0.000 0.055 2282 2041 2847 2810 2884 0 0 0 0 0 0 26.52 26.48 26.53 8.91 9.79

1505 -0.58 -146.0 2282 2041 2810 2884 76.8 -8.0 200 1514 0.00 2.25 0.00 0.000 516 0.000 0.067 2282 487 2846 2810 2883 0 0 0 0 0 0 26.76 26.42 26.77 8.91 10.22

1597 -0.58 -146.0 2282 487 2810 2883 85.1 -9.3 209 1606 0.00 2.20 0.00 0.000 1030 0.000 0.055 2272 2066 2847 2810 2884 0 0 0 0 0 0 26.59 26.54 26.60 8.91 9.55

1655 end dive: TARGET_DEPTH_EXCEEDED

state 1655 begin apogee

1660 -0.29 0.0 2272 2066 2810 2883 90.4 -8.8 215 1777 0.35 0.00 109.70 0.849 10246 0.132 0.000 2389 2066 2345 2296 2394 0 0 0 0 0 0 26.32 24.92 24.37 8.90 9.67

1778 end apogee: CONTROL_FINISHED_OK

state 1779 begin climb

1780 0.64 146.0 2389 2066 2296 2394 97.0 0.0 227 1899 0.82 2.45 111.07 0.827 10500 0.112 0.070 2670 3605 1841 1809 1874 0 0 0 0 0 0 25.20 24.80 24.18 8.87 9.67

1932 0.66 237.0 2671 3605 1807 1875 95.0 2.9 242 2012 0.00 2.25 70.95 0.807 9222 0.000 0.055 2679 2064 1529 1499 1560 0 0 0 0 0 0 25.39 25.37 24.17 8.83 9.91

2131 0.66 237.0 2678 2064 1498 1557 87.6 4.2 262 2132 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2064 1528 1498 1558 0 0 0 0 0 0 25.87 25.89 25.89 8.79 9.91

2251 0.66 237.0 2678 2064 1498 1557 82.7 4.1 274 2261 0.00 2.42 0.00 0.000 516 0.000 0.067 2689 439 1527 1498 1556 0 0 0 0 0 0 26.14 25.86 26.15 8.78 10.03

2293 0.66 237.0 2688 440 1498 1555 81.1 4.1 278 2302 0.00 2.30 0.00 0.000 1030 0.000 0.052 2689 2053 1526 1498 1555 0 0 0 0 0 0 26.04 26.00 26.05 8.79 9.55

2423 0.66 237.0 2688 2053 1498 1555 75.2 5.1 291 2424 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2053 1527 1498 1556 0 0 0 0 0 0 26.36 26.38 26.37 8.78 9.24

2543 0.66 237.0 2688 2053 1498 1555 68.9 5.2 303 2544 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2053 1526 1498 1555 0 0 0 0 0 0 26.46 26.48 26.48 8.79 10.22

2663 0.66 237.0 2688 2053 1498 1556 62.4 6.0 315 2672 0.00 2.38 0.00 0.000 516 0.000 0.067 2696 441 1527 1499 1555 0 0 0 0 0 0 26.55 26.23 26.56 8.79 10.26

2715 0.66 237.0 2695 440 1498 1554 59.1 6.1 320 2724 0.00 2.28 0.00 0.000 1030 0.000 0.052 2696 2063 1526 1498 1554 0 0 0 0 0 0 26.39 26.35 26.41 8.78 9.63

2845 0.66 237.0 2695 2063 1498 1555 50.5 7.3 333 2854 0.00 2.28 0.00 0.000 260 0.000 0.067 2696 3611 1526 1498 1554 0 0 0 0 0 0 26.64 26.33 26.65 8.79 9.52

2886 0.66 237.0 2695 3611 1498 1555 47.8 6.8 337 2895 0.00 2.30 0.00 0.000 1030 0.000 0.055 2701 1985 1526 1498 1554 0 0 0 0 0 0 26.46 26.42 26.48 8.78 9.71

3016 0.66 237.0 2700 1985 1498 1554 39.6 6.2 350 3025 0.00 2.25 0.00 0.000 516 0.000 0.067 2701 440 1526 1498 1554 0 0 0 0 0 0 26.71 26.39 26.72 8.79 9.20

3079 0.66 237.0 2700 440 1498 1554 36.2 5.4 356 3088 0.00 2.22 0.00 0.000 1030 0.000 0.055 2701 2048 1526 1498 1554 0 0 0 0 0 0 26.52 26.50 26.54 8.77 9.08

3208 0.66 237.0 2700 2048 1498 1554 28.8 6.0 369 3217 0.00 2.30 0.00 0.000 260 0.000 0.067 2701 3609 1526 1499 1554 0 0 0 0 0 0 26.77 26.45 26.78 8.78 9.83

3252 0.66 237.0 2701 3610 1498 1554 26.0 6.6 373 3259 0.00 2.28 0.00 0.000 1030 0.000 0.052 2701 1986 1526 1499 1554 0 0 0 0 0 0 26.58 26.53 26.60 8.78 9.59

3381 0.66 237.0 2701 1985 1498 1554 18.2 5.5 389 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 1985 1526 1498 1554 0 0 0 0 0 0 26.81 26.82 26.82 8.78 9.55

3450 0.66 237.0 2700 1985 1498 1554 14.5 5.3 402 3457 0.00 2.38 0.00 0.000 260 0.000 0.067 2701 3605 1526 1498 1554 0 0 0 0 0 0 26.82 26.50 26.84 8.78 9.67

3504 0.66 237.0 2700 3605 1498 1554 10.9 6.5 412 3511 0.00 2.28 0.00 0.000 1030 0.000 0.052 2701 1985 1526 1498 1554 0 0 0 0 0 0 26.63 26.59 26.65 8.78 9.59

3575 0.66 237.0 2700 1985 1499 1554 6.7 5.5 425 3581 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 1985 1526 1498 1554 0 0 0 0 0 0 26.85 26.86 26.86 8.78 9.55

3637 end climb: SURFACE_DEPTH_REACHED

state 3637 begin surface coast

3693 end surface coast: CONTROL_FINISHED_OK

state 3694 begin surface

ID	39	HD_B	0.011518	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	14	HD_C	1.6100001e-05	C_ROLL_DIVE	2048	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	4	HEADING	-1	C_ROLL_CLIMB	2048	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	62	ALTIM_FREQUENCY	13
D_TGT	90	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	76	ALTIM_PULSE	3
D_ABORT	6000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	600	ROLL_MAXERRORS	2	XPDR_VALID	1
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	140	INT_PRESSURE_YINT	-2.5
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3900	DEEPGLIDER	1
D_SAFE	0	PROTOCOL	9	C_VBD	2345	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	60	CALL_TRIES	10	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_MISSION	90	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN	540	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	3	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	-15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	100840	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_SLOITER	60	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	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	0.0099999998	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	3910	MINV_24V	17	SIM_W	0
RELAUNCH	0	C_PITCH	2480	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0044020778
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00064109167
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.6113514e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.207555e-06
SPEED_FACTOR	1	PITCH_GAIN	17	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7950287
RHO	1.0275	PITCH_TIMEOUT	20	PRESSURE_YINT	-20.786182	SEABIRD_C_H	1.1392668
MASS	78467	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0017858738
MASS_COMP	9200.2002	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021101594
NAV_MODE	1	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.5898
FERRY_MAX	45	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
KALMAN_USE	2	ROLL_MIN	245	COMPASS_USE	4
HD_A	0.0047458	ROLL_MAX	3845	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070217,232012,4742.8833,-12225.5352,3,0.9,12,16.3,0.0,0.0,9,9.3	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	1.69	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-25.4	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070217,232525,4742.8945,-12225.5449,6,0.9,14,16.3,0.0,0.0,9,9.0	MHEAD_RNG_PITCHd_Wd	7.3,3246,-10.1,-5.000,-14.71,4399
SPEED_LIMITS	0.050,0.190	D_GRID	90

FINISH	1.2,1.015251	_10V_AH	10.29,10.101
SM_CCo	3708,296.55,0.772,0,0,280,600.15	FG_AHR_24Vo	0.000
SM_GC	1.84,6.55,0.00,296.55,0.065,0.000,0.772,131,1983,280,-7.21,-1.84,600.15,0,0,0,0,0,0,26.60,26.89,24.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,070217,222943	MEM	323140
TT8_MAMPS	0.023219,0.19474	DATA_FILE_SIZE	27849,448
HUMID	9.48	CAP_FILE_SIZE	69526,0
INTERNAL_PRESSURE	8.57464	CFSIZE	2047311872,2040758272
TCM_TEMP	8.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	WARN	PPS timeout
ALTIM_TOP_PING	20.0,19.5	GPS	080217,003419,4743.573,-12225.210,5,0.9,59,16.3,0.0,0.0,9,12.8
_24V_AH	24.17,7.848

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	235	115.88	SBE_CT	294	23	165.08
Roll_motor	59	69	99.82	AA4330	588	13	191.77
VBD_pump_during_apogee	291	849	5987.60	nil	0	0	0.00
VBD_pump_during_surface	296	772	5534.92	nil	0	0	0.00
VBD_valve	447	151	1639.52	nil	0	0	0.00
Iridium_during_init	22	12	6.79	nil	0	0	0.00
Iridium_during_connect	16	160	64.44	nil	0	0	0.00
Iridium_during_xfer	179	223	966.46	nil	0	0	0.00
Transponder_ping	0	420	5.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.48
TT8	995	11	120.01
LPSleep	1215	2	27.38
TT8_Active	1021	11	123.25
TT8_Sampling	1014	35	372.44
TT8_CF8	92	44	42.49
TT8_Kalman	0	0	0.00
Analog_circuits	1556	10	160.12
GPS_charging	0	0	0.00
Compass	776	8	65.84
RAFOS	0	0	0.00
Transponder	2	30	0.85

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
79	-0.64	-146.0	126	2028	187	368	1.5	0.2	12	430	0.00	0.00	-346.27	0.149	16386	0.000	0.000	126	2029	2188	2147	2229	0	0	0	0	0	0	26.21	28.83	26.22	8.64	9.36
433	-0.64	-146.0	127	2029	2148	2230	3.0	-0.5	70	555	12.43	0.00	-101.57	0.151	18950	0.236	0.000	2271	2027	2847	2810	2884	0	0	0	0	0	0	25.46	25.63	25.53	8.84	9.20
616	-0.64	-146.0	2270	2027	2810	2884	11.0	-6.3	102	623	0.00	2.30	0.00	0.000	516	0.000	0.065	2271	478	2847	2810	2884	0	0	0	0	0	0	26.17	25.88	26.19	8.91	9.52
646	-0.58	-146.0	2270	478	2810	2884	12.9	-6.5	107	653	0.00	2.25	0.00	0.000	1030	0.000	0.052	2262	2059	2847	2810	2884	0	0	0	0	0	0	26.05	26.01	26.06	8.91	9.44
716	-0.58	-146.0	2262	2059	2811	2884	18.4	-8.1	120	723	0.08	2.33	0.00	0.000	2308	0.196	0.065	2281	3612	2847	2810	2884	0	0	0	0	0	0	25.94	26.01	25.99	8.91	9.32
803	-0.58	-146.0	2280	3612	2810	2884	25.2	-8.2	130	811	0.00	2.28	0.00	0.000	1030	0.000	0.052	2282	2027	2847	2810	2884	0	0	0	0	0	0	26.20	26.18	26.22	8.91	9.32
931	-0.58	-146.0	2281	2027	2810	2884	35.5	-7.5	143	940	0.00	2.25	0.00	0.000	516	0.000	0.067	2281	486	2847	2810	2884	0	0	0	0	0	0	26.51	26.20	26.53	8.91	9.08
1015	-0.58	-146.0	2281	486	2810	2884	41.7	-7.3	151	1022	0.00	2.20	0.00	0.000	1030	0.000	0.052	2271	2056	2847	2810	2884	0	0	0	0	0	0	26.37	26.33	26.39	8.91	9.55
1142	-0.58	-146.0	2271	2056	2810	2884	50.7	-7.1	164	1151	0.00	2.30	0.00	0.000	516	0.000	0.065	2271	485	2847	2810	2885	0	0	0	0	0	0	26.63	26.31	26.64	8.91	9.44
1216	-0.58	-146.0	2271	485	2810	2884	55.7	-7.0	171	1224	0.10	2.22	0.00	0.000	3078	0.144	0.052	2292	2059	2847	2810	2884	0	0	0	0	0	0	26.19	26.44	26.26	8.91	9.59
1344	-0.58	-146.0	2291	2059	2810	2884	64.1	-7.3	184	1353	0.00	2.28	0.00	0.000	260	0.000	0.067	2282	3609	2847	2810	2884	0	0	0	0	0	0	26.71	26.38	26.72	8.91	9.87
1375	-0.58	-146.0	2282	3609	2810	2884	66.5	-7.6	187	1384	0.00	2.20	0.00	0.000	1030	0.000	0.055	2282	2041	2847	2810	2884	0	0	0	0	0	0	26.52	26.48	26.53	8.91	9.79
1505	-0.58	-146.0	2282	2041	2810	2884	76.8	-8.0	200	1514	0.00	2.25	0.00	0.000	516	0.000	0.067	2282	487	2846	2810	2883	0	0	0	0	0	0	26.76	26.42	26.77	8.91	10.22
1597	-0.58	-146.0	2282	487	2810	2883	85.1	-9.3	209	1606	0.00	2.20	0.00	0.000	1030	0.000	0.055	2272	2066	2847	2810	2884	0	0	0	0	0	0	26.59	26.54	26.60	8.91	9.55
1655	end dive: TARGET_DEPTH_EXCEEDED
state	1655	begin apogee
1660	-0.29	0.0	2272	2066	2810	2883	90.4	-8.8	215	1777	0.35	0.00	109.70	0.849	10246	0.132	0.000	2389	2066	2345	2296	2394	0	0	0	0	0	0	26.32	24.92	24.37	8.90	9.67
1778	end apogee: CONTROL_FINISHED_OK
state	1779	begin climb
1780	0.64	146.0	2389	2066	2296	2394	97.0	0.0	227	1899	0.82	2.45	111.07	0.827	10500	0.112	0.070	2670	3605	1841	1809	1874	0	0	0	0	0	0	25.20	24.80	24.18	8.87	9.67
1932	0.66	237.0	2671	3605	1807	1875	95.0	2.9	242	2012	0.00	2.25	70.95	0.807	9222	0.000	0.055	2679	2064	1529	1499	1560	0	0	0	0	0	0	25.39	25.37	24.17	8.83	9.91
2131	0.66	237.0	2678	2064	1498	1557	87.6	4.2	262	2132	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2064	1528	1498	1558	0	0	0	0	0	0	25.87	25.89	25.89	8.79	9.91
2251	0.66	237.0	2678	2064	1498	1557	82.7	4.1	274	2261	0.00	2.42	0.00	0.000	516	0.000	0.067	2689	439	1527	1498	1556	0	0	0	0	0	0	26.14	25.86	26.15	8.78	10.03
2293	0.66	237.0	2688	440	1498	1555	81.1	4.1	278	2302	0.00	2.30	0.00	0.000	1030	0.000	0.052	2689	2053	1526	1498	1555	0	0	0	0	0	0	26.04	26.00	26.05	8.79	9.55
2423	0.66	237.0	2688	2053	1498	1555	75.2	5.1	291	2424	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2053	1527	1498	1556	0	0	0	0	0	0	26.36	26.38	26.37	8.78	9.24
2543	0.66	237.0	2688	2053	1498	1555	68.9	5.2	303	2544	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2053	1526	1498	1555	0	0	0	0	0	0	26.46	26.48	26.48	8.79	10.22
2663	0.66	237.0	2688	2053	1498	1556	62.4	6.0	315	2672	0.00	2.38	0.00	0.000	516	0.000	0.067	2696	441	1527	1499	1555	0	0	0	0	0	0	26.55	26.23	26.56	8.79	10.26
2715	0.66	237.0	2695	440	1498	1554	59.1	6.1	320	2724	0.00	2.28	0.00	0.000	1030	0.000	0.052	2696	2063	1526	1498	1554	0	0	0	0	0	0	26.39	26.35	26.41	8.78	9.63
2845	0.66	237.0	2695	2063	1498	1555	50.5	7.3	333	2854	0.00	2.28	0.00	0.000	260	0.000	0.067	2696	3611	1526	1498	1554	0	0	0	0	0	0	26.64	26.33	26.65	8.79	9.52
2886	0.66	237.0	2695	3611	1498	1555	47.8	6.8	337	2895	0.00	2.30	0.00	0.000	1030	0.000	0.055	2701	1985	1526	1498	1554	0	0	0	0	0	0	26.46	26.42	26.48	8.78	9.71
3016	0.66	237.0	2700	1985	1498	1554	39.6	6.2	350	3025	0.00	2.25	0.00	0.000	516	0.000	0.067	2701	440	1526	1498	1554	0	0	0	0	0	0	26.71	26.39	26.72	8.79	9.20
3079	0.66	237.0	2700	440	1498	1554	36.2	5.4	356	3088	0.00	2.22	0.00	0.000	1030	0.000	0.055	2701	2048	1526	1498	1554	0	0	0	0	0	0	26.52	26.50	26.54	8.77	9.08
3208	0.66	237.0	2700	2048	1498	1554	28.8	6.0	369	3217	0.00	2.30	0.00	0.000	260	0.000	0.067	2701	3609	1526	1499	1554	0	0	0	0	0	0	26.77	26.45	26.78	8.78	9.83
3252	0.66	237.0	2701	3610	1498	1554	26.0	6.6	373	3259	0.00	2.28	0.00	0.000	1030	0.000	0.052	2701	1986	1526	1499	1554	0	0	0	0	0	0	26.58	26.53	26.60	8.78	9.59
3381	0.66	237.0	2701	1985	1498	1554	18.2	5.5	389	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	1985	1526	1498	1554	0	0	0	0	0	0	26.81	26.82	26.82	8.78	9.55
3450	0.66	237.0	2700	1985	1498	1554	14.5	5.3	402	3457	0.00	2.38	0.00	0.000	260	0.000	0.067	2701	3605	1526	1498	1554	0	0	0	0	0	0	26.82	26.50	26.84	8.78	9.67
3504	0.66	237.0	2700	3605	1498	1554	10.9	6.5	412	3511	0.00	2.28	0.00	0.000	1030	0.000	0.052	2701	1985	1526	1498	1554	0	0	0	0	0	0	26.63	26.59	26.65	8.78	9.59
3575	0.66	237.0	2700	1985	1499	1554	6.7	5.5	425	3581	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	1985	1526	1498	1554	0	0	0	0	0	0	26.85	26.86	26.86	8.78	9.55
3637	end climb: SURFACE_DEPTH_REACHED
state	3637	begin surface coast
3693	end surface coast: CONTROL_FINISHED_OK
state	3694	begin surface