Glider dive log

Shilshole 30Oct17 * SG156 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_B 0.0080929501 ROLL_MAX 3865 ALTIM_BOTTOM_PING_RANGE 0

MISSION 10 HD_C 9.8500004e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

DIVE 10 HEADING -1 C_ROLL_DIVE 1800 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 45 C_ROLL_CLIMB 1750 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 5625 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -755 R_PORT_OVSHOOT 43 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 41 ALTIM_PULSE 3

D_NO_BLEED 100 SM_CC 230 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 5

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 5 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 451 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3959 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 C_VBD 1345 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.25119999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 35

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 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 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 160 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3877 MINV_24V 19 SIM_W 0

APOGEE_PITCH -7 C_PITCH 2350 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 60 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043872492

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 1 SEABIRD_T_H 0.00063743989

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4850315e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.6583925e-06

RHO 1.023 PITCH_GAIN 23 PHONE_SUPPLY 2 SEABIRD_C_G -10.170362

MASS 51746 PITCH_TIMEOUT 18 PRESSURE_YINT -17.227072 SEABIRD_C_H 1.1513186

MASS_COMP 0 PITCH_AD_RATE 100 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_I -0.0020813958

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00025019815

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2977.3

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0038000001 ROLL_MIN 260 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 230

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 100 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 45 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 23 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3877 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 160 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 5625

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -755

APOGEE_PITCH -7 HD_B 0.0080929501 PRESSURE_SLOPE 0.00011457827 T_ABORT 720

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -17.227072 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 156 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 600

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2350 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 1750 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 1800 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 1345 MASS 51746 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 1 ROLL_MAX 3865 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEVICE2 101 MAX_BUOY 60 ROLL_MIN 260 VBD_DBAND 2

DEVICE3 35 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 43 VBD_MAX 3959

DEVICE5 -1 MISSION 10 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.170362 VBD_MIN 451

DIVE 10 NAV_MODE 2 SEABIRD_C_H 1.1513186 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 0 SEABIRD_C_I -0.0020813958 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00025019815 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2977.3 W_ADJ_DBAND 0

D_FINISH 5 N_GPS 100840 SEABIRD_T_G 0.0043872492 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063743989 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_I 2.4850315e-05 XPDR_VALID 5

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.6583925e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 311017,034157,4743.9048,-12224.0684,11,1.2,28,18.2,0.2,148.2,8,5.2 SPEED_LIMITS 0.075,0.173

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG 4744.500,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 311.7,1369,-21.0,-7.500,-23.43,1194

_SM_ANGLEo -67.2 D_GRID 172

GPS2 311017,035029,4743.8369,-12224.0137,15,1.1,15,18.2,0.2,160.7,8,8.1

Post-dive calculations and measurements:

FREEZE 3.75,11.982,-1.549,0,1,0 _10V_AH 10.50,0.534

SM_CCo 4128,0.60,0.090,0,0,452,224.57 FG_AHR_24Vo 0.000

SM_GC 2.83,6.90,2.38,0.60,0.044,0.024,0.090,154,1798,452,-6.78,-1.78,224.57,0,0,0,0,0,0,25.19,25.27,25.10 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,311017,022856 MEM 191932

TT8_MAMPS 0.026964,0.250915 DATA_FILE_SIZE 48855,724

HUMID 46.02 CAP_FILE_SIZE 81187,0

INTERNAL_PRESSURE 8.96519 CFSIZE 260165632,256847872

TCM_TEMP 13.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 1 CURRENT 0.069,177.25,1

ALTIM_BOTTOM_PING 110.0,74.1 GPS 311017,050132,4743.986,-12224.210,9,2.0,42,18.2,0.3,150.8,9,5.0

_24V_AH 23.65,28.015

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 221 85.13 SBE_CT 491 23 278.48

Roll_motor 42 116 117.49 AA4330 634 31 472.29

VBD_pump_during_apogee 105 599 1495.03 WL_blue_red_Chl_old_fw 648 105 1610.13

VBD_pump_during_surface 141 475 1586.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 61 45.02 nil 0 0 0.00

Iridium_during_connect 44 160 167.91 nil 0 0 0.00

Iridium_during_xfer 275 223 1454.82 nil 0 0 0.00

Transponder_ping 1 420 14.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 32 5.51

TT8 1850 12 251.75

LPSleep 651 2 14.98

TT8_Active 412 12 52.93

TT8_Sampling 1436 37 568.22

TT8_CF8 313 44 146.36

TT8_Kalman 0 0 0.00

Analog_circuits 981 17 175.14

GPS_charging 0 0 0.00

Compass 1115 15 184.19

RAFOS 0 0 0.00

Transponder 11 30 3.70

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

9 -0.93 -58.7 173 1789 407 500 0.0 0.0 0 52 0.00 0.00 -41.25 0.000 16386 0.000 0.000 173 1789 1455 1507 1403 0 0 0 0 0 0 25.85 28.83 25.88 9.02 47.95

56 -0.93 -58.7 173 1789 1506 1406 3.2 -7.9 7 70 7.45 0.00 -3.67 0.000 18438 0.222 0.000 2047 1781 1580 1664 1497 0 0 0 0 0 0 24.76 23.94 25.18 9.13 47.79

134 -0.93 -58.7 2046 1781 1666 1499 13.3 -11.4 21 140 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 1781 1582 1666 1498 0 0 0 0 0 0 26.00 26.03 26.02 9.14 46.69

206 -0.93 -58.7 2046 1781 1666 1499 19.9 -10.3 34 213 0.00 2.25 0.00 0.000 516 0.000 0.048 2053 403 1582 1666 1499 0 0 0 0 0 0 26.08 25.46 26.10 9.15 46.77

317 -0.93 -58.7 2052 402 1666 1499 34.2 -12.5 55 324 0.00 2.17 0.00 0.000 1030 0.000 0.023 2043 1836 1582 1666 1499 0 0 0 0 0 0 25.87 25.82 25.89 9.15 47.00

388 -0.93 -58.7 2042 1838 1666 1499 42.0 -10.1 68 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 1838 1582 1666 1499 0 0 0 0 0 0 26.23 26.26 26.25 9.15 46.25

519 -0.93 -58.7 2043 1840 1666 1499 55.7 -10.8 93 525 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 1840 1582 1666 1499 0 0 0 0 0 0 26.30 26.33 26.32 9.15 46.81

650 -0.93 -58.7 2042 1841 1666 1499 68.8 -9.7 118 656 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 1841 1582 1666 1499 0 0 0 0 0 0 26.36 26.39 26.38 9.15 46.33

780 -0.93 -58.7 2043 1840 1666 1499 81.2 -8.4 143 786 0.00 2.10 0.00 0.000 260 0.000 0.031 2033 3187 1582 1666 1499 0 0 0 0 0 0 26.40 25.80 26.42 9.15 47.20

942 -0.93 -58.7 2032 3188 1666 1499 94.8 -9.0 174 949 0.00 2.17 0.00 0.000 1030 0.000 0.030 2037 1793 1582 1666 1498 0 0 0 0 0 0 25.87 25.75 25.91 9.15 46.57

1078 -0.93 -58.7 2037 1793 1666 1499 107.4 -8.6 199 1085 0.00 2.22 0.00 0.000 516 0.000 0.047 2039 399 1582 1666 1499 0 0 0 0 0 0 26.48 25.64 26.50 9.15 47.36

1188 -0.93 -58.7 2038 399 1666 1499 117.8 -10.9 219 1195 0.00 2.10 0.00 0.000 1030 0.000 0.023 2029 1811 1582 1666 1499 0 0 0 0 0 0 26.11 26.06 26.13 9.15 46.53

1322 -0.93 -58.7 2029 1823 1666 1499 132.2 -10.6 244 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 1823 1582 1666 1499 0 0 0 0 0 0 26.52 26.55 26.54 9.15 46.45

1452 -0.93 -58.7 2029 1823 1666 1499 146.0 -10.3 269 1459 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 1823 1582 1666 1499 0 0 0 0 0 0 26.54 26.57 26.56 9.15 46.49

1584 -0.93 -58.7 2029 1823 1666 1499 158.5 -10.0 294 1591 0.00 2.15 0.00 0.000 260 0.000 0.032 2019 3183 1582 1665 1499 0 0 0 0 0 0 26.56 25.84 26.58 9.15 46.25

1670 -0.93 -58.7 2018 3183 1666 1499 166.5 -9.5 310 1678 0.10 2.15 0.00 0.000 3078 0.183 0.031 2046 1804 1582 1666 1499 0 0 0 0 0 0 25.43 25.77 25.57 9.15 47.28

1698 end dive: BOTTOM_OBSTACLE_DETECTED

state 1698 begin apogee

1707 -0.30 0.0 2046 1745 1666 1499 169.3 -9.0 315 1763 0.62 0.00 51.30 0.600 10246 0.147 0.000 2242 1745 1345 1378 1313 0 0 0 0 0 0 24.95 25.20 24.53 9.15 46.61

1764 end apogee: CONTROL_FINISHED_OK

state 1764 begin climb

1767 0.93 58.7 2241 1745 1378 1312 170.9 0.0 324 1824 1.15 0.00 50.03 0.583 10758 0.103 0.000 2631 1745 1111 1096 1126 0 0 0 0 0 0 25.29 24.75 24.14 9.13 45.82

1949 0.93 58.7 2630 1745 1096 1125 157.6 8.9 357 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 1745 1110 1096 1125 0 0 0 0 0 0 25.83 25.86 25.84 9.09 45.70

2081 0.93 58.7 2631 1745 1096 1125 144.9 9.8 382 2087 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 1745 1110 1096 1125 0 0 0 0 0 0 26.03 26.06 26.06 9.09 46.92

2211 0.93 58.7 2630 1745 1096 1124 132.9 8.8 407 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 1745 1110 1096 1124 0 0 0 0 0 0 26.16 26.20 26.18 9.09 47.24

2341 0.93 58.7 2630 1745 1096 1124 120.8 8.3 432 2347 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 1745 1110 1096 1124 0 0 0 0 0 0 26.25 26.27 26.27 9.09 46.65

2471 0.93 58.7 2631 1745 1096 1124 109.9 8.7 457 2478 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 1745 1110 1096 1124 0 0 0 0 0 0 26.32 26.34 26.34 9.09 46.81

2602 0.93 58.7 2630 1745 1096 1124 97.8 9.0 482 2608 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 1745 1110 1096 1124 0 0 0 0 0 0 26.37 26.39 26.39 9.09 46.85

2732 0.93 58.7 2631 1745 1096 1124 84.9 9.6 507 2739 0.00 2.28 0.00 0.000 516 0.000 0.050 2642 343 1109 1095 1124 0 0 0 0 0 0 26.41 25.53 26.43 9.09 47.16

2823 0.93 58.7 2641 343 1096 1124 75.8 10.2 524 2829 0.00 2.12 0.00 0.000 1030 0.000 0.028 2642 1752 1109 1096 1123 0 0 0 0 0 0 26.02 25.96 26.05 9.09 47.32

2957 0.93 61.9 2641 1754 1096 1123 65.1 7.2 549 2966 0.00 2.22 4.07 0.365 8452 0.000 0.035 2642 3129 1098 1084 1113 0 0 0 0 0 0 26.47 25.60 24.75 9.10 47.16

3030 0.93 61.9 2641 3129 1084 1113 58.8 9.1 562 3037 0.00 2.17 0.00 0.000 1030 0.000 0.034 2652 1757 1098 1084 1113 0 0 0 0 0 0 25.94 25.83 25.98 9.09 47.24

3164 0.93 61.9 2651 1757 1084 1113 46.9 9.4 587 3171 0.00 2.28 0.00 0.000 516 0.000 0.049 2663 342 1098 1084 1113 0 0 0 0 0 0 26.48 25.65 26.50 9.09 47.28

3288 0.93 61.9 2662 341 1084 1113 34.5 9.6 610 3296 0.00 2.15 0.00 0.000 1030 0.000 0.027 2663 1759 1098 1083 1113 0 0 0 0 0 0 26.10 26.04 26.13 9.09 47.63

3359 0.93 61.9 2662 1759 1084 1113 28.0 8.6 623 3365 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1759 1098 1083 1113 0 0 0 0 0 0 26.51 26.53 26.53 9.10 47.36

3430 0.93 61.9 2662 1759 1083 1113 22.3 7.8 636 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1759 1098 1084 1113 0 0 0 0 0 0 26.53 26.55 26.55 9.09 47.91

3500 0.93 61.9 2662 1759 1083 1113 17.0 7.7 649 3507 0.00 2.15 0.00 0.000 260 0.000 0.034 2663 3125 1098 1083 1113 0 0 0 0 0 0 26.53 25.81 26.55 9.09 47.95

3536 0.93 61.9 2662 3125 1083 1113 13.6 9.7 655 3543 0.00 2.17 0.00 0.000 1030 0.000 0.034 2672 1750 1098 1083 1113 0 0 0 0 0 0 25.94 25.82 25.98 9.09 47.32

3607 0.93 61.9 2672 1750 1083 1113 6.9 9.3 668 3614 0.00 2.28 0.00 0.000 516 0.000 0.050 2683 336 1098 1083 1113 0 0 0 0 0 0 26.55 25.65 26.57 9.09 47.40

3901 end climb: NO_VERTICAL_VELOCITY

state 3901 begin surface

ID	156	HD_B	0.0080929501	ROLL_MAX	3865	ALTIM_BOTTOM_PING_RANGE	0
MISSION	10	HD_C	9.8500004e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
DIVE	10	HEADING	-1	C_ROLL_DIVE	1800	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	45	C_ROLL_CLIMB	1750	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	5625	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-755	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	41	ALTIM_PULSE	3
D_NO_BLEED	100	SM_CC	230	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	5
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	5	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	451	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3959	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	C_VBD	1345	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.25119999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	35
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	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	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	160	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3877	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-7	C_PITCH	2350	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	60	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043872492
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	1	SEABIRD_T_H	0.00063743989
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4850315e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.6583925e-06
RHO	1.023	PITCH_GAIN	23	PHONE_SUPPLY	2	SEABIRD_C_G	-10.170362
MASS	51746	PITCH_TIMEOUT	18	PRESSURE_YINT	-17.227072	SEABIRD_C_H	1.1513186
MASS_COMP	0	PITCH_AD_RATE	100	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_I	-0.0020813958
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00025019815
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2977.3
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0038000001	ROLL_MIN	260	COMPASS_USE	4

GPS1	311017,034157,4743.9048,-12224.0684,11,1.2,28,18.2,0.2,148.2,8,5.2	SPEED_LIMITS	0.075,0.173
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	4744.500,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	311.7,1369,-21.0,-7.500,-23.43,1194
_SM_ANGLEo	-67.2	D_GRID	172
GPS2	311017,035029,4743.8369,-12224.0137,15,1.1,15,18.2,0.2,160.7,8,8.1

FREEZE	3.75,11.982,-1.549,0,1,0	_10V_AH	10.50,0.534
SM_CCo	4128,0.60,0.090,0,0,452,224.57	FG_AHR_24Vo	0.000
SM_GC	2.83,6.90,2.38,0.60,0.044,0.024,0.090,154,1798,452,-6.78,-1.78,224.57,0,0,0,0,0,0,25.19,25.27,25.10	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,311017,022856	MEM	191932
TT8_MAMPS	0.026964,0.250915	DATA_FILE_SIZE	48855,724
HUMID	46.02	CAP_FILE_SIZE	81187,0
INTERNAL_PRESSURE	8.96519	CFSIZE	260165632,256847872
TCM_TEMP	13.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	1	CURRENT	0.069,177.25,1
ALTIM_BOTTOM_PING	110.0,74.1	GPS	311017,050132,4743.986,-12224.210,9,2.0,42,18.2,0.3,150.8,9,5.0
_24V_AH	23.65,28.015

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	221	85.13	SBE_CT	491	23	278.48
Roll_motor	42	116	117.49	AA4330	634	31	472.29
VBD_pump_during_apogee	105	599	1495.03	WL_blue_red_Chl_old_fw	648	105	1610.13
VBD_pump_during_surface	141	475	1586.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	61	45.02	nil	0	0	0.00
Iridium_during_connect	44	160	167.91	nil	0	0	0.00
Iridium_during_xfer	275	223	1454.82	nil	0	0	0.00
Transponder_ping	1	420	14.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	32	5.51
TT8	1850	12	251.75
LPSleep	651	2	14.98
TT8_Active	412	12	52.93
TT8_Sampling	1436	37	568.22
TT8_CF8	313	44	146.36
TT8_Kalman	0	0	0.00
Analog_circuits	981	17	175.14
GPS_charging	0	0	0.00
Compass	1115	15	184.19
RAFOS	0	0	0.00
Transponder	11	30	3.70

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
9	-0.93	-58.7	173	1789	407	500	0.0	0.0	0	52	0.00	0.00	-41.25	0.000	16386	0.000	0.000	173	1789	1455	1507	1403	0	0	0	0	0	0	25.85	28.83	25.88	9.02	47.95
56	-0.93	-58.7	173	1789	1506	1406	3.2	-7.9	7	70	7.45	0.00	-3.67	0.000	18438	0.222	0.000	2047	1781	1580	1664	1497	0	0	0	0	0	0	24.76	23.94	25.18	9.13	47.79
134	-0.93	-58.7	2046	1781	1666	1499	13.3	-11.4	21	140	0.00	0.00	0.00	0.000	6	0.000	0.000	2047	1781	1582	1666	1498	0	0	0	0	0	0	26.00	26.03	26.02	9.14	46.69
206	-0.93	-58.7	2046	1781	1666	1499	19.9	-10.3	34	213	0.00	2.25	0.00	0.000	516	0.000	0.048	2053	403	1582	1666	1499	0	0	0	0	0	0	26.08	25.46	26.10	9.15	46.77
317	-0.93	-58.7	2052	402	1666	1499	34.2	-12.5	55	324	0.00	2.17	0.00	0.000	1030	0.000	0.023	2043	1836	1582	1666	1499	0	0	0	0	0	0	25.87	25.82	25.89	9.15	47.00
388	-0.93	-58.7	2042	1838	1666	1499	42.0	-10.1	68	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	1838	1582	1666	1499	0	0	0	0	0	0	26.23	26.26	26.25	9.15	46.25
519	-0.93	-58.7	2043	1840	1666	1499	55.7	-10.8	93	525	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	1840	1582	1666	1499	0	0	0	0	0	0	26.30	26.33	26.32	9.15	46.81
650	-0.93	-58.7	2042	1841	1666	1499	68.8	-9.7	118	656	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	1841	1582	1666	1499	0	0	0	0	0	0	26.36	26.39	26.38	9.15	46.33
780	-0.93	-58.7	2043	1840	1666	1499	81.2	-8.4	143	786	0.00	2.10	0.00	0.000	260	0.000	0.031	2033	3187	1582	1666	1499	0	0	0	0	0	0	26.40	25.80	26.42	9.15	47.20
942	-0.93	-58.7	2032	3188	1666	1499	94.8	-9.0	174	949	0.00	2.17	0.00	0.000	1030	0.000	0.030	2037	1793	1582	1666	1498	0	0	0	0	0	0	25.87	25.75	25.91	9.15	46.57
1078	-0.93	-58.7	2037	1793	1666	1499	107.4	-8.6	199	1085	0.00	2.22	0.00	0.000	516	0.000	0.047	2039	399	1582	1666	1499	0	0	0	0	0	0	26.48	25.64	26.50	9.15	47.36
1188	-0.93	-58.7	2038	399	1666	1499	117.8	-10.9	219	1195	0.00	2.10	0.00	0.000	1030	0.000	0.023	2029	1811	1582	1666	1499	0	0	0	0	0	0	26.11	26.06	26.13	9.15	46.53
1322	-0.93	-58.7	2029	1823	1666	1499	132.2	-10.6	244	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	1823	1582	1666	1499	0	0	0	0	0	0	26.52	26.55	26.54	9.15	46.45
1452	-0.93	-58.7	2029	1823	1666	1499	146.0	-10.3	269	1459	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	1823	1582	1666	1499	0	0	0	0	0	0	26.54	26.57	26.56	9.15	46.49
1584	-0.93	-58.7	2029	1823	1666	1499	158.5	-10.0	294	1591	0.00	2.15	0.00	0.000	260	0.000	0.032	2019	3183	1582	1665	1499	0	0	0	0	0	0	26.56	25.84	26.58	9.15	46.25
1670	-0.93	-58.7	2018	3183	1666	1499	166.5	-9.5	310	1678	0.10	2.15	0.00	0.000	3078	0.183	0.031	2046	1804	1582	1666	1499	0	0	0	0	0	0	25.43	25.77	25.57	9.15	47.28
1698	end dive: BOTTOM_OBSTACLE_DETECTED
state	1698	begin apogee
1707	-0.30	0.0	2046	1745	1666	1499	169.3	-9.0	315	1763	0.62	0.00	51.30	0.600	10246	0.147	0.000	2242	1745	1345	1378	1313	0	0	0	0	0	0	24.95	25.20	24.53	9.15	46.61
1764	end apogee: CONTROL_FINISHED_OK
state	1764	begin climb
1767	0.93	58.7	2241	1745	1378	1312	170.9	0.0	324	1824	1.15	0.00	50.03	0.583	10758	0.103	0.000	2631	1745	1111	1096	1126	0	0	0	0	0	0	25.29	24.75	24.14	9.13	45.82
1949	0.93	58.7	2630	1745	1096	1125	157.6	8.9	357	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	1745	1110	1096	1125	0	0	0	0	0	0	25.83	25.86	25.84	9.09	45.70
2081	0.93	58.7	2631	1745	1096	1125	144.9	9.8	382	2087	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	1745	1110	1096	1125	0	0	0	0	0	0	26.03	26.06	26.06	9.09	46.92
2211	0.93	58.7	2630	1745	1096	1124	132.9	8.8	407	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	1745	1110	1096	1124	0	0	0	0	0	0	26.16	26.20	26.18	9.09	47.24
2341	0.93	58.7	2630	1745	1096	1124	120.8	8.3	432	2347	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	1745	1110	1096	1124	0	0	0	0	0	0	26.25	26.27	26.27	9.09	46.65
2471	0.93	58.7	2631	1745	1096	1124	109.9	8.7	457	2478	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	1745	1110	1096	1124	0	0	0	0	0	0	26.32	26.34	26.34	9.09	46.81
2602	0.93	58.7	2630	1745	1096	1124	97.8	9.0	482	2608	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	1745	1110	1096	1124	0	0	0	0	0	0	26.37	26.39	26.39	9.09	46.85
2732	0.93	58.7	2631	1745	1096	1124	84.9	9.6	507	2739	0.00	2.28	0.00	0.000	516	0.000	0.050	2642	343	1109	1095	1124	0	0	0	0	0	0	26.41	25.53	26.43	9.09	47.16
2823	0.93	58.7	2641	343	1096	1124	75.8	10.2	524	2829	0.00	2.12	0.00	0.000	1030	0.000	0.028	2642	1752	1109	1096	1123	0	0	0	0	0	0	26.02	25.96	26.05	9.09	47.32
2957	0.93	61.9	2641	1754	1096	1123	65.1	7.2	549	2966	0.00	2.22	4.07	0.365	8452	0.000	0.035	2642	3129	1098	1084	1113	0	0	0	0	0	0	26.47	25.60	24.75	9.10	47.16
3030	0.93	61.9	2641	3129	1084	1113	58.8	9.1	562	3037	0.00	2.17	0.00	0.000	1030	0.000	0.034	2652	1757	1098	1084	1113	0	0	0	0	0	0	25.94	25.83	25.98	9.09	47.24
3164	0.93	61.9	2651	1757	1084	1113	46.9	9.4	587	3171	0.00	2.28	0.00	0.000	516	0.000	0.049	2663	342	1098	1084	1113	0	0	0	0	0	0	26.48	25.65	26.50	9.09	47.28
3288	0.93	61.9	2662	341	1084	1113	34.5	9.6	610	3296	0.00	2.15	0.00	0.000	1030	0.000	0.027	2663	1759	1098	1083	1113	0	0	0	0	0	0	26.10	26.04	26.13	9.09	47.63
3359	0.93	61.9	2662	1759	1084	1113	28.0	8.6	623	3365	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1759	1098	1083	1113	0	0	0	0	0	0	26.51	26.53	26.53	9.10	47.36
3430	0.93	61.9	2662	1759	1083	1113	22.3	7.8	636	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1759	1098	1084	1113	0	0	0	0	0	0	26.53	26.55	26.55	9.09	47.91
3500	0.93	61.9	2662	1759	1083	1113	17.0	7.7	649	3507	0.00	2.15	0.00	0.000	260	0.000	0.034	2663	3125	1098	1083	1113	0	0	0	0	0	0	26.53	25.81	26.55	9.09	47.95
3536	0.93	61.9	2662	3125	1083	1113	13.6	9.7	655	3543	0.00	2.17	0.00	0.000	1030	0.000	0.034	2672	1750	1098	1083	1113	0	0	0	0	0	0	25.94	25.82	25.98	9.09	47.32
3607	0.93	61.9	2672	1750	1083	1113	6.9	9.3	668	3614	0.00	2.28	0.00	0.000	516	0.000	0.050	2683	336	1098	1083	1113	0	0	0	0	0	0	26.55	25.65	26.57	9.09	47.40
3901	end climb: NO_VERTICAL_VELOCITY
state	3901	begin surface