Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_C 9.8500004e-06 ROLL_MAX 3800 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING 50 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1940 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 29 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 6 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 451 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 3 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 1638 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -1 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 35

T_DIVE 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 90 CALL_WAIT 30 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 1 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 40 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -905980.31 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 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 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 -7 PITCH_MIN 160 MINV_24V 17 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3877 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2264 FG_AHR_10V 0 SEABIRD_T_G 0.0043990691

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00065709552

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 3.75727e-05

RHO 1.0276999 P_OVSHOOT 0.039999999 PRESSURE_YINT -17.360556 SEABIRD_T_J 5.2690598e-06

MASS 51793 PITCH_GAIN 31 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_G -10.168411

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1470841

NAV_MODE 1 PITCH_AD_RATE 100 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001554661

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020326475

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 221 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

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 100 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 50 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3877 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 56.75

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -7.25

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00030000001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 80

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011457827 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -17.360556 T_GPS 15

CALL_WAIT 30 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -905980.31

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 156 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 0 RHO 1.0276999 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2264 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1940 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3800 VBD_BLEED_AD_RATE 1

DEEPGLIDER 0 MASS 51793 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 221 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 29 VBD_MIN 451

DEVICE4 101 MISSION 6 SEABIRD_C_G -10.168411 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1470841 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.001554661 VBD_TIMEOUT 720

DIVE 13 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020326475 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 25 SEABIRD_T_G 0.0043990691 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00065709552 XPDR_INHIBIT 90

D_CALL 0 N_GPS 40 SEABIRD_T_I 3.75727e-05 XPDR_VALID 1

D_FINISH 6 N_NOCOMM 3 SEABIRD_T_J 5.2690598e-06

D_FLARE 3 N_NOSURFACE -1 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 070115,100306,4743.056,-12224.659,41,1.1,41,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.023,0.213

_SM_DEPTHo 0.96 KALMAN_X -1799.9,10.7,33.4,1566.7,-66.8

_SM_ANGLEo -67.2 KALMAN_Y -2095.8,271.5,512.4,1088.7,-525.3

GPS2 070115,101331,4742.961,-12224.698,14,1.8,14,18.2 MHEAD_RNG_PITCHd_Wd 347.9,2861,-15.9,-7.500,-19.32,2379

SPEED_LIMITS 0.089,0.214 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.2,1.021344 _24V_AH 24.2,1.306

SM_CCo 3822,107.85,0.508,2,0,602,260.24 _10V_AH 10.4,0.899

SM_GC 1.00,6.15,2.53,107.85,0.053,0.036,0.508,143,2035,602,-6.54,-1.16,260.24,0,0,0,0,2,0,26.28,26.29,24.72 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12321.00,070115,080837 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462,0.028462 MEM 323208

HUMID 29.28 DATA_FILE_SIZE 50333,701

INTERNAL_PRESSURE 9.31676 CAP_FILE_SIZE 83586,0

TCM_TEMP 19.90 CFSIZE 260165632,257212416

XPDR_PINGS 214 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0

ALTIM_BOTTOM_PING 175.1,15.6 GPS 070115,112106,4742.998,-12225.064,11,1.9,11,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 243 89.78 SBE_CT 473 23 274.51

Roll_motor 50 113 139.67 SBE_O2 388 5 56.30

VBD_pump_during_apogee 203 640 3155.25 WL_BB2FLVMG 656 105 1668.16

VBD_pump_during_surface 107 507 1325.76 AA4330 592 41 601.44

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 58 41.95 nil 0 0 0.00

Iridium_during_connect 43 160 168.30 nil 0 0 0.00

Iridium_during_xfer 389 223 2102.46 nil 0 0 0.00

Transponder_ping 58 420 589.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.79

TT8 1582 12 205.01

LPSleep 702 2 16.01

TT8_Active 458 12 59.35

TT8_Sampling 1547 35 574.35

TT8_CF8 277 42 122.61

TT8_Kalman 33 58 20.10

Analog_circuits 1041 16 173.36

GPS_charging 0 0 0.00

Compass 1054 16 180.76

RAFOS 0 0 0.00

Transponder 31 30 9.95

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.55 -116.8 136 2030 517 686 0.0 0.0 0 85 0.00 0.00 -65.35 0.000 16386 0.000 0.000 136 2030 1974 2015 1933 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.55 -116.8 136 2030 2015 1938 3.2 -6.0 12 109 7.72 2.33 -3.40 0.000 18692 0.243 0.064 2073 3450 2107 2176 2038 0 0 0 0 0 0 25.50 25.72 26.03

173 -0.55 -116.8 2073 3450 2181 2039 16.6 -11.7 27 180 0.00 2.25 0.00 0.000 1030 0.000 0.038 2073 2042 2110 2181 2039 0 0 0 0 0 0 28.83 25.84 28.83

244 -0.55 -116.8 2073 2037 2181 2039 25.0 -11.8 40 250 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2037 2110 2181 2039 0 0 0 0 0 0 28.83 28.83 28.83

314 -0.55 -116.8 2073 2037 2181 2039 32.5 -10.2 53 319 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2037 2110 2181 2039 0 0 0 0 0 0 28.83 28.83 28.83

383 -0.55 -116.8 1280 2034 2130 2032 39.2 -10.0 66 388 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2036 2110 2181 2039 0 0 0 0 0 0 28.83 28.83 28.83

452 -0.55 -116.8 2073 2036 2181 2040 47.0 -10.8 79 459 0.00 2.35 0.00 0.000 516 0.000 0.051 2073 631 2110 2181 2039 0 0 0 0 0 0 28.83 26.04 28.83

513 -0.55 -116.8 2072 631 2181 2038 54.7 -13.3 90 520 0.00 2.35 0.00 0.000 1030 0.000 0.039 2062 2042 2109 2181 2038 0 0 0 0 0 0 28.83 26.10 28.83

644 -0.55 -116.8 2062 2040 2181 2038 69.6 -8.9 115 650 0.00 2.40 0.00 0.000 516 0.000 0.054 2062 631 2109 2181 2038 0 0 0 0 0 0 28.83 26.13 28.83

714 -0.55 -116.8 1280 631 2130 2030 77.9 -12.3 128 721 0.12 2.35 0.00 0.000 3078 0.176 0.037 2083 2053 2109 2181 2038 0 0 0 0 0 0 26.04 26.17 28.83

848 -0.55 -116.8 2082 2051 2181 2038 90.4 -8.6 153 853 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2051 2109 2181 2038 0 0 0 0 0 0 28.83 28.83 28.83

978 -0.55 -116.8 2083 2050 2181 2038 102.6 -9.6 178 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2050 2109 2181 2038 0 0 0 0 0 0 28.83 28.83 28.83

1111 -0.55 -116.8 2082 2050 2181 2038 114.6 -8.7 203 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2050 2109 2181 2038 0 0 0 0 0 0 28.83 28.83 28.83

1246 -0.55 -116.8 2083 2049 2181 2038 128.4 -10.2 228 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2050 2109 2181 2038 0 0 0 0 0 0 28.83 28.83 28.83

1381 -0.55 -116.8 2083 2049 2181 2038 142.3 -10.4 253 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2049 2109 2181 2038 0 0 0 0 0 0 28.83 28.83 28.83

1515 -0.55 -116.8 2082 2049 2181 2038 155.6 -10.3 278 1521 0.00 2.40 0.00 0.000 516 0.000 0.051 2083 627 2109 2181 2038 0 0 0 0 0 0 28.83 26.32 28.83

1576 -0.55 -116.8 2083 627 2181 2037 162.5 -10.5 289 1582 0.00 2.33 0.00 0.000 1030 0.000 0.039 2073 2041 2109 2181 2037 0 0 0 0 0 0 28.83 26.35 28.83

1709 end dive: BOTTOM_OBSTACLE_DETECTED

state 1709 begin apogee

1718 -0.23 0.0 2074 1894 2181 2037 176.0 -10.6 314 1819 0.35 0.08 93.75 0.640 10246 0.136 0.113 2188 1968 1637 1662 1613 0 0 0 0 0 0 26.25 25.00 24.51

1823 end apogee: CONTROL_FINISHED_OK

state 1823 begin climb

1826 0.55 116.8 2188 1968 1662 1611 181.4 0.0 332 1926 0.75 0.00 95.20 0.616 10246 0.106 0.000 2437 1966 1173 1134 1212 0 0 0 0 0 0 25.08 28.83 24.15

2052 0.55 116.8 2436 1966 1132 1212 166.9 8.5 374 2059 0.00 2.22 0.00 0.000 260 0.000 0.046 2437 3319 1170 1130 1211 0 0 0 0 0 0 28.83 25.44 28.83

2103 0.55 116.8 2436 3319 1131 1210 162.3 8.9 383 2109 0.00 2.20 0.00 0.000 1030 0.000 0.040 2447 1969 1170 1131 1210 0 0 0 0 0 0 28.83 25.57 28.83

2235 0.55 116.8 1504 1967 1118 1207 151.0 9.4 408 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1969 1170 1131 1209 0 0 0 0 0 0 28.83 28.83 28.83

2365 0.55 116.8 2447 1969 1131 1209 138.0 9.5 433 2371 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1969 1170 1131 1209 0 0 0 0 0 0 28.83 28.83 28.83

2494 0.55 116.8 1536 1966 1119 1207 126.2 9.1 458 2501 0.00 2.40 0.00 0.000 516 0.000 0.055 2459 534 1170 1131 1210 0 0 0 0 0 0 28.83 25.99 28.83

2559 0.55 116.8 1536 534 1121 1204 119.5 11.3 470 2566 0.00 2.28 0.00 0.000 1030 0.000 0.035 2458 1923 1169 1133 1206 0 0 0 0 0 0 28.83 26.06 28.83

2693 0.55 116.8 2458 1921 1133 1205 105.4 9.7 495 2699 0.00 2.25 0.00 0.000 260 0.000 0.046 2459 3352 1169 1133 1205 0 0 0 0 0 0 28.83 26.10 28.83

2773 0.55 116.8 1536 3350 1121 1203 96.8 10.6 510 2779 0.00 2.25 0.00 0.000 1030 0.000 0.039 2469 1940 1169 1133 1205 0 0 0 0 0 0 28.83 26.15 28.83

2908 0.55 116.8 2468 1938 1133 1205 83.1 11.7 535 2913 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1938 1169 1134 1205 0 0 0 0 0 0 28.83 28.83 28.83

3037 0.55 116.8 2469 1936 1133 1205 68.1 10.4 560 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1936 1169 1133 1205 0 0 0 0 0 0 28.83 28.83 28.83

3167 0.55 116.8 2468 1936 1134 1205 54.6 10.0 585 3173 0.00 2.22 0.00 0.000 260 0.000 0.047 2469 3340 1169 1133 1205 0 0 0 0 0 0 28.83 26.25 28.83

3227 0.55 116.8 2469 3340 1133 1205 47.8 11.1 596 3235 0.15 2.22 0.00 0.000 5126 0.173 0.040 2440 1934 1169 1133 1205 0 0 0 0 0 0 26.14 26.27 28.83

3362 0.55 134.2 2440 1933 1133 1205 37.9 6.7 621 3380 0.00 0.00 14.68 0.528 8198 0.000 0.000 2440 1932 1103 1056 1150 0 0 0 0 0 0 28.83 28.83 25.58

3444 0.55 134.2 2440 1933 1055 1148 31.8 7.8 636 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 1932 1102 1056 1148 0 0 0 0 0 0 28.83 28.83 28.83

3514 0.55 134.2 2440 1933 1056 1148 26.1 8.6 649 3521 0.00 2.33 0.00 0.000 516 0.000 0.054 2450 532 1102 1056 1148 0 0 0 0 0 0 28.83 26.15 28.83

3555 0.55 134.2 2450 532 1055 1148 22.4 9.4 656 3562 0.00 2.30 0.00 0.000 1030 0.000 0.034 2450 1948 1101 1056 1146 0 0 0 0 0 0 28.83 26.22 28.83

3625 0.55 134.2 1536 1943 1046 1144 16.3 8.4 669 3632 0.00 2.20 0.00 0.000 260 0.000 0.046 2450 3347 1100 1056 1145 0 0 0 0 0 0 28.83 26.21 28.83

3696 0.55 134.2 2450 3346 1056 1145 9.6 9.2 682 3703 0.00 2.22 0.00 0.000 1030 0.000 0.038 2461 1943 1100 1056 1145 0 0 0 0 0 0 28.83 26.26 28.83

3767 0.55 134.2 2460 1944 1056 1145 3.0 9.0 695 3773 0.00 2.33 0.00 0.000 516 0.000 0.054 2472 531 1100 1056 1145 0 0 0 0 0 0 28.83 26.25 28.83

3778 end climb: SURFACE_DEPTH_REACHED

state 3778 begin surface coast

3800 end surface coast: CONTROL_FINISHED_OK

state 3800 begin surface

ID	156	HD_C	9.8500004e-06	ROLL_MAX	3800	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING	50	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1940	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	29	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	6	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	451	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	3	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	1638	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-1	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	35
T_DIVE	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	90	CALL_WAIT	30	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	1	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	40	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-905980.31	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	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	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	-7	PITCH_MIN	160	MINV_24V	17	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3877	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2264	FG_AHR_10V	0	SEABIRD_T_G	0.0043990691
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00065709552
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	3.75727e-05
RHO	1.0276999	P_OVSHOOT	0.039999999	PRESSURE_YINT	-17.360556	SEABIRD_T_J	5.2690598e-06
MASS	51793	PITCH_GAIN	31	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_G	-10.168411
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1470841
NAV_MODE	1	PITCH_AD_RATE	100	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001554661
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020326475
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	221	ALTIM_TOP_PING_RANGE	0

GPS1	070115,100306,4743.056,-12224.659,41,1.1,41,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.023,0.213
_SM_DEPTHo	0.96	KALMAN_X	-1799.9,10.7,33.4,1566.7,-66.8
_SM_ANGLEo	-67.2	KALMAN_Y	-2095.8,271.5,512.4,1088.7,-525.3
GPS2	070115,101331,4742.961,-12224.698,14,1.8,14,18.2	MHEAD_RNG_PITCHd_Wd	347.9,2861,-15.9,-7.500,-19.32,2379
SPEED_LIMITS	0.089,0.214	D_GRID	177

FINISH	0.2,1.021344	_24V_AH	24.2,1.306
SM_CCo	3822,107.85,0.508,2,0,602,260.24	_10V_AH	10.4,0.899
SM_GC	1.00,6.15,2.53,107.85,0.053,0.036,0.508,143,2035,602,-6.54,-1.16,260.24,0,0,0,0,2,0,26.28,26.29,24.72	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12321.00,070115,080837	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462,0.028462	MEM	323208
HUMID	29.28	DATA_FILE_SIZE	50333,701
INTERNAL_PRESSURE	9.31676	CAP_FILE_SIZE	83586,0
TCM_TEMP	19.90	CFSIZE	260165632,257212416
XPDR_PINGS	214	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
ALTIM_BOTTOM_PING	175.1,15.6	GPS	070115,112106,4742.998,-12225.064,11,1.9,11,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	243	89.78	SBE_CT	473	23	274.51
Roll_motor	50	113	139.67	SBE_O2	388	5	56.30
VBD_pump_during_apogee	203	640	3155.25	WL_BB2FLVMG	656	105	1668.16
VBD_pump_during_surface	107	507	1325.76	AA4330	592	41	601.44
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	58	41.95	nil	0	0	0.00
Iridium_during_connect	43	160	168.30	nil	0	0	0.00
Iridium_during_xfer	389	223	2102.46	nil	0	0	0.00
Transponder_ping	58	420	589.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.79
TT8	1582	12	205.01
LPSleep	702	2	16.01
TT8_Active	458	12	59.35
TT8_Sampling	1547	35	574.35
TT8_CF8	277	42	122.61
TT8_Kalman	33	58	20.10
Analog_circuits	1041	16	173.36
GPS_charging	0	0	0.00
Compass	1054	16	180.76
RAFOS	0	0	0.00
Transponder	31	30	9.95

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.55	-116.8	136	2030	517	686	0.0	0.0	0	85	0.00	0.00	-65.35	0.000	16386	0.000	0.000	136	2030	1974	2015	1933	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.55	-116.8	136	2030	2015	1938	3.2	-6.0	12	109	7.72	2.33	-3.40	0.000	18692	0.243	0.064	2073	3450	2107	2176	2038	0	0	0	0	0	0	25.50	25.72	26.03
173	-0.55	-116.8	2073	3450	2181	2039	16.6	-11.7	27	180	0.00	2.25	0.00	0.000	1030	0.000	0.038	2073	2042	2110	2181	2039	0	0	0	0	0	0	28.83	25.84	28.83
244	-0.55	-116.8	2073	2037	2181	2039	25.0	-11.8	40	250	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2037	2110	2181	2039	0	0	0	0	0	0	28.83	28.83	28.83
314	-0.55	-116.8	2073	2037	2181	2039	32.5	-10.2	53	319	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2037	2110	2181	2039	0	0	0	0	0	0	28.83	28.83	28.83
383	-0.55	-116.8	1280	2034	2130	2032	39.2	-10.0	66	388	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2036	2110	2181	2039	0	0	0	0	0	0	28.83	28.83	28.83
452	-0.55	-116.8	2073	2036	2181	2040	47.0	-10.8	79	459	0.00	2.35	0.00	0.000	516	0.000	0.051	2073	631	2110	2181	2039	0	0	0	0	0	0	28.83	26.04	28.83
513	-0.55	-116.8	2072	631	2181	2038	54.7	-13.3	90	520	0.00	2.35	0.00	0.000	1030	0.000	0.039	2062	2042	2109	2181	2038	0	0	0	0	0	0	28.83	26.10	28.83
644	-0.55	-116.8	2062	2040	2181	2038	69.6	-8.9	115	650	0.00	2.40	0.00	0.000	516	0.000	0.054	2062	631	2109	2181	2038	0	0	0	0	0	0	28.83	26.13	28.83
714	-0.55	-116.8	1280	631	2130	2030	77.9	-12.3	128	721	0.12	2.35	0.00	0.000	3078	0.176	0.037	2083	2053	2109	2181	2038	0	0	0	0	0	0	26.04	26.17	28.83
848	-0.55	-116.8	2082	2051	2181	2038	90.4	-8.6	153	853	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2051	2109	2181	2038	0	0	0	0	0	0	28.83	28.83	28.83
978	-0.55	-116.8	2083	2050	2181	2038	102.6	-9.6	178	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2050	2109	2181	2038	0	0	0	0	0	0	28.83	28.83	28.83
1111	-0.55	-116.8	2082	2050	2181	2038	114.6	-8.7	203	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2050	2109	2181	2038	0	0	0	0	0	0	28.83	28.83	28.83
1246	-0.55	-116.8	2083	2049	2181	2038	128.4	-10.2	228	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2050	2109	2181	2038	0	0	0	0	0	0	28.83	28.83	28.83
1381	-0.55	-116.8	2083	2049	2181	2038	142.3	-10.4	253	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2049	2109	2181	2038	0	0	0	0	0	0	28.83	28.83	28.83
1515	-0.55	-116.8	2082	2049	2181	2038	155.6	-10.3	278	1521	0.00	2.40	0.00	0.000	516	0.000	0.051	2083	627	2109	2181	2038	0	0	0	0	0	0	28.83	26.32	28.83
1576	-0.55	-116.8	2083	627	2181	2037	162.5	-10.5	289	1582	0.00	2.33	0.00	0.000	1030	0.000	0.039	2073	2041	2109	2181	2037	0	0	0	0	0	0	28.83	26.35	28.83
1709	end dive: BOTTOM_OBSTACLE_DETECTED
state	1709	begin apogee
1718	-0.23	0.0	2074	1894	2181	2037	176.0	-10.6	314	1819	0.35	0.08	93.75	0.640	10246	0.136	0.113	2188	1968	1637	1662	1613	0	0	0	0	0	0	26.25	25.00	24.51
1823	end apogee: CONTROL_FINISHED_OK
state	1823	begin climb
1826	0.55	116.8	2188	1968	1662	1611	181.4	0.0	332	1926	0.75	0.00	95.20	0.616	10246	0.106	0.000	2437	1966	1173	1134	1212	0	0	0	0	0	0	25.08	28.83	24.15
2052	0.55	116.8	2436	1966	1132	1212	166.9	8.5	374	2059	0.00	2.22	0.00	0.000	260	0.000	0.046	2437	3319	1170	1130	1211	0	0	0	0	0	0	28.83	25.44	28.83
2103	0.55	116.8	2436	3319	1131	1210	162.3	8.9	383	2109	0.00	2.20	0.00	0.000	1030	0.000	0.040	2447	1969	1170	1131	1210	0	0	0	0	0	0	28.83	25.57	28.83
2235	0.55	116.8	1504	1967	1118	1207	151.0	9.4	408	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1969	1170	1131	1209	0	0	0	0	0	0	28.83	28.83	28.83
2365	0.55	116.8	2447	1969	1131	1209	138.0	9.5	433	2371	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1969	1170	1131	1209	0	0	0	0	0	0	28.83	28.83	28.83
2494	0.55	116.8	1536	1966	1119	1207	126.2	9.1	458	2501	0.00	2.40	0.00	0.000	516	0.000	0.055	2459	534	1170	1131	1210	0	0	0	0	0	0	28.83	25.99	28.83
2559	0.55	116.8	1536	534	1121	1204	119.5	11.3	470	2566	0.00	2.28	0.00	0.000	1030	0.000	0.035	2458	1923	1169	1133	1206	0	0	0	0	0	0	28.83	26.06	28.83
2693	0.55	116.8	2458	1921	1133	1205	105.4	9.7	495	2699	0.00	2.25	0.00	0.000	260	0.000	0.046	2459	3352	1169	1133	1205	0	0	0	0	0	0	28.83	26.10	28.83
2773	0.55	116.8	1536	3350	1121	1203	96.8	10.6	510	2779	0.00	2.25	0.00	0.000	1030	0.000	0.039	2469	1940	1169	1133	1205	0	0	0	0	0	0	28.83	26.15	28.83
2908	0.55	116.8	2468	1938	1133	1205	83.1	11.7	535	2913	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	1938	1169	1134	1205	0	0	0	0	0	0	28.83	28.83	28.83
3037	0.55	116.8	2469	1936	1133	1205	68.1	10.4	560	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	1936	1169	1133	1205	0	0	0	0	0	0	28.83	28.83	28.83
3167	0.55	116.8	2468	1936	1134	1205	54.6	10.0	585	3173	0.00	2.22	0.00	0.000	260	0.000	0.047	2469	3340	1169	1133	1205	0	0	0	0	0	0	28.83	26.25	28.83
3227	0.55	116.8	2469	3340	1133	1205	47.8	11.1	596	3235	0.15	2.22	0.00	0.000	5126	0.173	0.040	2440	1934	1169	1133	1205	0	0	0	0	0	0	26.14	26.27	28.83
3362	0.55	134.2	2440	1933	1133	1205	37.9	6.7	621	3380	0.00	0.00	14.68	0.528	8198	0.000	0.000	2440	1932	1103	1056	1150	0	0	0	0	0	0	28.83	28.83	25.58
3444	0.55	134.2	2440	1933	1055	1148	31.8	7.8	636	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	1932	1102	1056	1148	0	0	0	0	0	0	28.83	28.83	28.83
3514	0.55	134.2	2440	1933	1056	1148	26.1	8.6	649	3521	0.00	2.33	0.00	0.000	516	0.000	0.054	2450	532	1102	1056	1148	0	0	0	0	0	0	28.83	26.15	28.83
3555	0.55	134.2	2450	532	1055	1148	22.4	9.4	656	3562	0.00	2.30	0.00	0.000	1030	0.000	0.034	2450	1948	1101	1056	1146	0	0	0	0	0	0	28.83	26.22	28.83
3625	0.55	134.2	1536	1943	1046	1144	16.3	8.4	669	3632	0.00	2.20	0.00	0.000	260	0.000	0.046	2450	3347	1100	1056	1145	0	0	0	0	0	0	28.83	26.21	28.83
3696	0.55	134.2	2450	3346	1056	1145	9.6	9.2	682	3703	0.00	2.22	0.00	0.000	1030	0.000	0.038	2461	1943	1100	1056	1145	0	0	0	0	0	0	28.83	26.26	28.83
3767	0.55	134.2	2460	1944	1056	1145	3.0	9.0	695	3773	0.00	2.33	0.00	0.000	516	0.000	0.054	2472	531	1100	1056	1145	0	0	0	0	0	0	28.83	26.25	28.83
3778	end climb: SURFACE_DEPTH_REACHED
state	3778	begin surface coast
3800	end surface coast: CONTROL_FINISHED_OK
state	3800	begin surface