Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 17 * 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 17 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 59 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 25 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 -905985.31 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 -905985.31

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 59 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 25 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 17 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 070115,152249,4742.729,-12225.327,36,1.7,36,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.188,0.103

_SM_DEPTHo 0.96 KALMAN_X -4138.6,15.3,-235.8,3365.6,-482.0

_SM_ANGLEo -67.5 KALMAN_Y -4610.2,213.1,-887.4,4633.7,-298.6

GPS2 070115,153413,4742.738,-12225.340,15,1.1,15,18.2 MHEAD_RNG_PITCHd_Wd 43.0,1154,-15.9,-7.500,-19.32,2379

SPEED_LIMITS 0.089,0.214 D_GRID 189

Post-dive calculations and measurements:

FINISH 0.4,1.022199 _10V_AH 10.4,1.175

SM_CCo 3993,68.65,0.516,1,0,601,260.24 FG_AHR_24Vo 0.000

SM_GC 0.97,6.18,2.53,68.65,0.047,0.031,0.516,141,2042,601,-6.55,-1.24,260.24,0,0,0,0,1,0,26.06,26.09,24.82 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,070115,141403 MEM 323268

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 53729,733

HUMID 28.97 CAP_FILE_SIZE 86729,0

INTERNAL_PRESSURE 9.32653 CFSIZE 260165632,256974848

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 237 GPS 070115,164355,4742.928,-12224.795,12,1.3,12,18.2

_24V_AH 24.1,1.662

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 249 92.56 SBE_CT 494 23 285.44

Roll_motor 59 89 128.24 SBE_O2 392 5 56.64

VBD_pump_during_apogee 245 645 3818.91 WL_BB2FLVMG 664 105 1682.06

VBD_pump_during_surface 68 515 853.06 AA4330 599 41 605.48

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 58 41.63 nil 0 0 0.00

Iridium_during_connect 41 160 159.06 nil 0 0 0.00

Iridium_during_xfer 446 223 2399.37 nil 0 0 0.00

Transponder_ping 63 420 642.75 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.01

TT8 1642 12 212.85

LPSleep 733 2 16.70

TT8_Active 449 12 58.31

TT8_Sampling 1625 35 603.28

TT8_CF8 302 42 133.33

TT8_Kalman 33 58 20.09

Analog_circuits 1062 16 176.78

GPS_charging 0 0 0.00

Compass 1100 16 188.56

RAFOS 0 0 0.00

Transponder 27 30 8.63

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.55 -116.8 136 1997 517 685 0.0 0.0 0 85 0.00 0.00 -65.20 0.000 16386 0.000 0.000 136 1998 1984 2029 1939 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.55 -116.8 136 1998 2029 1943 3.6 -7.9 12 109 7.82 2.25 -3.10 0.000 18948 0.249 0.060 2082 661 2105 2176 2035 0 0 0 0 0 0 25.51 25.74 26.02

163 -0.55 -116.8 2082 661 2177 2035 16.2 -13.6 25 170 0.00 2.30 0.00 0.000 1030 0.000 0.034 2073 2045 2106 2178 2035 0 0 0 0 0 0 28.83 25.84 28.83

235 -0.55 -116.8 2073 2042 2178 2035 26.3 -14.2 38 241 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2042 2106 2178 2035 0 0 0 0 0 0 28.83 28.83 28.83

305 -0.55 -116.8 2073 2042 2179 2035 35.4 -12.2 51 311 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2042 2107 2179 2035 0 0 0 0 0 0 28.83 28.83 28.83

375 -0.55 -116.8 2073 2042 2178 2034 43.4 -11.0 64 381 0.00 2.35 0.00 0.000 516 0.000 0.047 2073 653 2107 2179 2035 0 0 0 0 0 0 28.83 25.99 28.83

510 -0.55 -116.8 1280 653 2128 2028 60.0 -12.8 90 516 0.00 2.30 0.00 0.000 1030 0.000 0.034 2063 2049 2106 2178 2035 0 0 0 0 0 0 28.83 26.10 28.83

640 -0.55 -116.8 2063 2046 2179 2035 76.5 -12.6 115 646 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2046 2106 2178 2035 0 0 0 0 0 0 28.83 28.83 28.83

771 -0.55 -116.8 2063 2046 2178 2035 91.9 -10.4 140 778 0.00 2.17 0.00 0.000 260 0.000 0.046 2052 3457 2107 2179 2035 0 0 0 0 0 0 28.83 26.17 28.83

827 -0.55 -116.8 2052 3456 2179 2035 97.3 -9.5 150 834 0.12 2.15 0.00 0.000 3078 0.160 0.033 2084 2063 2107 2179 2035 0 0 0 0 0 0 26.09 26.22 28.83

962 -0.55 -116.8 2084 2058 2179 2035 108.4 -7.3 175 968 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2058 2107 2179 2035 0 0 0 0 0 0 28.83 28.83 28.83

1092 -0.55 -116.8 2084 2058 2179 2035 118.8 -8.1 200 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2058 2107 2179 2035 0 0 0 0 0 0 28.83 28.83 28.83

1227 -0.55 -116.8 1256 2055 2126 2027 130.7 -9.7 225 1233 0.00 2.35 0.00 0.000 516 0.000 0.050 2085 630 2107 2179 2035 0 0 0 0 0 0 28.83 26.27 28.83

1333 -0.55 -116.8 2085 630 2179 2035 141.4 -9.9 245 1339 0.00 2.30 0.00 0.000 1030 0.000 0.035 2075 2041 2107 2179 2035 0 0 0 0 0 0 28.83 26.32 28.83

1468 -0.55 -116.8 2075 2039 2179 2035 152.9 -8.9 270 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2039 2107 2179 2035 0 0 0 0 0 0 28.83 28.83 28.83

1603 -0.55 -116.8 2075 2039 2179 2035 167.0 -11.1 295 1608 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2039 2107 2179 2035 0 0 0 0 0 0 28.83 28.83 28.83

1735 -0.55 -116.8 1248 2036 2126 2027 177.4 -6.1 320 1741 0.00 2.35 0.00 0.000 516 0.000 0.050 2075 635 2107 2179 2035 0 0 0 0 0 0 28.83 26.34 28.83

1764 end dive: TARGET_DEPTH_EXCEEDED

state 1764 begin apogee

1775 -0.23 0.0 2065 1946 2178 2035 180.4 -9.5 325 1875 0.38 0.00 94.05 0.646 10246 0.144 0.000 2187 1944 1637 1663 1612 0 0 0 0 0 0 26.24 28.83 24.51

1875 end apogee: CONTROL_FINISHED_OK

state 1876 begin climb

1879 0.55 116.8 2186 1944 1663 1611 185.6 0.0 343 1980 0.75 0.00 95.72 0.620 10758 0.108 0.000 2434 1945 1173 1134 1212 0 0 0 0 0 0 25.05 28.83 24.14

2105 0.55 116.8 2434 1944 1131 1211 169.1 7.5 385 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 1944 1171 1131 1211 0 0 0 0 0 0 28.83 28.83 28.83

2235 0.55 116.8 2434 1944 1131 1211 157.5 8.6 410 2240 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 1944 1170 1130 1211 0 0 0 0 0 0 28.83 28.83 28.83

2365 0.55 116.8 2434 1944 1130 1211 146.1 9.2 435 2371 0.00 2.22 0.00 0.000 260 0.000 0.043 2434 3355 1170 1129 1211 0 0 0 0 0 0 28.83 25.86 28.83

2420 0.55 116.8 2434 3355 1130 1209 141.0 10.0 445 2427 0.00 2.25 0.00 0.000 1030 0.000 0.035 2445 1937 1169 1130 1209 0 0 0 0 0 0 28.83 25.94 28.83

2554 0.55 116.8 2444 1936 1130 1209 129.6 8.5 470 2560 0.00 2.33 0.00 0.000 516 0.000 0.050 2456 534 1169 1130 1209 0 0 0 0 0 0 28.83 25.99 28.83

2594 0.55 116.8 2456 534 1130 1207 125.2 10.7 477 2601 0.00 2.30 0.00 0.000 1030 0.000 0.031 2456 1949 1168 1130 1207 0 0 0 0 0 0 28.83 26.06 28.83

2727 0.55 116.8 2456 1946 1131 1206 110.8 10.5 502 2733 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1946 1168 1131 1206 0 0 0 0 0 0 28.83 28.83 28.83

2858 0.55 116.8 2456 1946 1131 1207 96.6 11.9 527 2864 0.00 2.20 0.00 0.000 260 0.000 0.044 2456 3356 1168 1131 1206 0 0 0 0 0 0 28.83 26.15 28.83

2928 0.55 116.8 2456 3356 1131 1206 89.1 10.5 540 2935 0.00 2.22 0.00 0.000 1030 0.000 0.034 2467 1943 1168 1131 1206 0 0 0 0 0 0 28.83 26.19 28.83

3062 0.55 116.8 2466 1943 1131 1206 77.8 7.9 565 3067 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1943 1168 1131 1206 0 0 0 0 0 0 28.83 28.83 28.83

3191 0.55 116.8 1544 1941 1119 1204 67.0 8.0 590 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1943 1168 1131 1206 0 0 0 0 0 0 28.83 28.83 28.83

3321 0.55 123.0 2466 1943 1131 1206 56.8 7.2 615 3334 0.00 2.22 5.95 0.466 8452 0.000 0.041 2467 3344 1147 1110 1184 0 0 0 0 0 0 28.83 26.19 25.65

3378 0.55 123.0 2466 3343 1110 1184 52.3 8.3 625 3385 0.15 2.22 0.00 0.000 5126 0.169 0.036 2438 1923 1147 1110 1184 0 0 0 0 0 0 26.10 26.22 28.83

3512 0.56 157.9 1488 1920 1099 1182 43.7 6.0 650 3547 0.00 2.38 28.77 0.548 8452 0.000 0.042 2438 3345 1008 956 1061 0 0 0 0 0 0 28.83 25.84 25.36

3571 0.56 157.9 2438 3344 956 1058 39.3 8.0 660 3578 0.00 2.22 0.00 0.000 1030 0.000 0.034 2447 1944 1007 956 1058 0 0 0 0 0 0 28.83 25.91 28.83

3642 0.57 182.3 2446 1943 956 1058 34.2 6.4 673 3672 0.00 2.42 20.92 0.527 8708 0.000 0.051 2458 541 911 859 963 0 0 0 0 0 0 28.83 25.68 25.21

3726 0.57 182.3 2458 541 859 960 26.7 9.6 688 3733 0.00 2.30 0.00 0.000 1030 0.000 0.032 2458 1945 909 859 959 0 0 0 0 0 0 28.83 25.83 28.83

3797 0.57 182.3 2458 1944 859 958 19.7 10.1 701 3803 0.00 2.22 0.00 0.000 260 0.000 0.043 2458 3350 908 859 958 0 0 0 0 0 0 28.83 25.89 28.83

3882 0.57 182.3 1536 3348 855 955 10.4 10.6 717 3888 0.00 2.25 0.00 0.000 1030 0.000 0.036 2469 1937 907 859 956 0 0 0 0 0 0 28.83 25.98 28.83

3952 0.57 182.3 2468 1935 859 956 2.6 10.6 730 3959 0.00 2.33 0.00 0.000 516 0.000 0.050 2480 528 907 859 956 0 0 0 0 0 0 28.83 26.02 28.83

3964 end climb: SURFACE_DEPTH_REACHED

state 3964 begin surface coast

3971 end surface coast: CONTROL_FINISHED_OK

state 3971 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	17	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	59	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	25	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	-905985.31	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	070115,152249,4742.729,-12225.327,36,1.7,36,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.188,0.103
_SM_DEPTHo	0.96	KALMAN_X	-4138.6,15.3,-235.8,3365.6,-482.0
_SM_ANGLEo	-67.5	KALMAN_Y	-4610.2,213.1,-887.4,4633.7,-298.6
GPS2	070115,153413,4742.738,-12225.340,15,1.1,15,18.2	MHEAD_RNG_PITCHd_Wd	43.0,1154,-15.9,-7.500,-19.32,2379
SPEED_LIMITS	0.089,0.214	D_GRID	189

FINISH	0.4,1.022199	_10V_AH	10.4,1.175
SM_CCo	3993,68.65,0.516,1,0,601,260.24	FG_AHR_24Vo	0.000
SM_GC	0.97,6.18,2.53,68.65,0.047,0.031,0.516,141,2042,601,-6.55,-1.24,260.24,0,0,0,0,1,0,26.06,26.09,24.82	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,070115,141403	MEM	323268
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	53729,733
HUMID	28.97	CAP_FILE_SIZE	86729,0
INTERNAL_PRESSURE	9.32653	CFSIZE	260165632,256974848
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	237	GPS	070115,164355,4742.928,-12224.795,12,1.3,12,18.2
_24V_AH	24.1,1.662

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	249	92.56	SBE_CT	494	23	285.44
Roll_motor	59	89	128.24	SBE_O2	392	5	56.64
VBD_pump_during_apogee	245	645	3818.91	WL_BB2FLVMG	664	105	1682.06
VBD_pump_during_surface	68	515	853.06	AA4330	599	41	605.48
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	58	41.63	nil	0	0	0.00
Iridium_during_connect	41	160	159.06	nil	0	0	0.00
Iridium_during_xfer	446	223	2399.37	nil	0	0	0.00
Transponder_ping	63	420	642.75	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.01
TT8	1642	12	212.85
LPSleep	733	2	16.70
TT8_Active	449	12	58.31
TT8_Sampling	1625	35	603.28
TT8_CF8	302	42	133.33
TT8_Kalman	33	58	20.09
Analog_circuits	1062	16	176.78
GPS_charging	0	0	0.00
Compass	1100	16	188.56
RAFOS	0	0	0.00
Transponder	27	30	8.63

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.55	-116.8	136	1997	517	685	0.0	0.0	0	85	0.00	0.00	-65.20	0.000	16386	0.000	0.000	136	1998	1984	2029	1939	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.55	-116.8	136	1998	2029	1943	3.6	-7.9	12	109	7.82	2.25	-3.10	0.000	18948	0.249	0.060	2082	661	2105	2176	2035	0	0	0	0	0	0	25.51	25.74	26.02
163	-0.55	-116.8	2082	661	2177	2035	16.2	-13.6	25	170	0.00	2.30	0.00	0.000	1030	0.000	0.034	2073	2045	2106	2178	2035	0	0	0	0	0	0	28.83	25.84	28.83
235	-0.55	-116.8	2073	2042	2178	2035	26.3	-14.2	38	241	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2042	2106	2178	2035	0	0	0	0	0	0	28.83	28.83	28.83
305	-0.55	-116.8	2073	2042	2179	2035	35.4	-12.2	51	311	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2042	2107	2179	2035	0	0	0	0	0	0	28.83	28.83	28.83
375	-0.55	-116.8	2073	2042	2178	2034	43.4	-11.0	64	381	0.00	2.35	0.00	0.000	516	0.000	0.047	2073	653	2107	2179	2035	0	0	0	0	0	0	28.83	25.99	28.83
510	-0.55	-116.8	1280	653	2128	2028	60.0	-12.8	90	516	0.00	2.30	0.00	0.000	1030	0.000	0.034	2063	2049	2106	2178	2035	0	0	0	0	0	0	28.83	26.10	28.83
640	-0.55	-116.8	2063	2046	2179	2035	76.5	-12.6	115	646	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2046	2106	2178	2035	0	0	0	0	0	0	28.83	28.83	28.83
771	-0.55	-116.8	2063	2046	2178	2035	91.9	-10.4	140	778	0.00	2.17	0.00	0.000	260	0.000	0.046	2052	3457	2107	2179	2035	0	0	0	0	0	0	28.83	26.17	28.83
827	-0.55	-116.8	2052	3456	2179	2035	97.3	-9.5	150	834	0.12	2.15	0.00	0.000	3078	0.160	0.033	2084	2063	2107	2179	2035	0	0	0	0	0	0	26.09	26.22	28.83
962	-0.55	-116.8	2084	2058	2179	2035	108.4	-7.3	175	968	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2058	2107	2179	2035	0	0	0	0	0	0	28.83	28.83	28.83
1092	-0.55	-116.8	2084	2058	2179	2035	118.8	-8.1	200	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2058	2107	2179	2035	0	0	0	0	0	0	28.83	28.83	28.83
1227	-0.55	-116.8	1256	2055	2126	2027	130.7	-9.7	225	1233	0.00	2.35	0.00	0.000	516	0.000	0.050	2085	630	2107	2179	2035	0	0	0	0	0	0	28.83	26.27	28.83
1333	-0.55	-116.8	2085	630	2179	2035	141.4	-9.9	245	1339	0.00	2.30	0.00	0.000	1030	0.000	0.035	2075	2041	2107	2179	2035	0	0	0	0	0	0	28.83	26.32	28.83
1468	-0.55	-116.8	2075	2039	2179	2035	152.9	-8.9	270	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2039	2107	2179	2035	0	0	0	0	0	0	28.83	28.83	28.83
1603	-0.55	-116.8	2075	2039	2179	2035	167.0	-11.1	295	1608	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2039	2107	2179	2035	0	0	0	0	0	0	28.83	28.83	28.83
1735	-0.55	-116.8	1248	2036	2126	2027	177.4	-6.1	320	1741	0.00	2.35	0.00	0.000	516	0.000	0.050	2075	635	2107	2179	2035	0	0	0	0	0	0	28.83	26.34	28.83
1764	end dive: TARGET_DEPTH_EXCEEDED
state	1764	begin apogee
1775	-0.23	0.0	2065	1946	2178	2035	180.4	-9.5	325	1875	0.38	0.00	94.05	0.646	10246	0.144	0.000	2187	1944	1637	1663	1612	0	0	0	0	0	0	26.24	28.83	24.51
1875	end apogee: CONTROL_FINISHED_OK
state	1876	begin climb
1879	0.55	116.8	2186	1944	1663	1611	185.6	0.0	343	1980	0.75	0.00	95.72	0.620	10758	0.108	0.000	2434	1945	1173	1134	1212	0	0	0	0	0	0	25.05	28.83	24.14
2105	0.55	116.8	2434	1944	1131	1211	169.1	7.5	385	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	1944	1171	1131	1211	0	0	0	0	0	0	28.83	28.83	28.83
2235	0.55	116.8	2434	1944	1131	1211	157.5	8.6	410	2240	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	1944	1170	1130	1211	0	0	0	0	0	0	28.83	28.83	28.83
2365	0.55	116.8	2434	1944	1130	1211	146.1	9.2	435	2371	0.00	2.22	0.00	0.000	260	0.000	0.043	2434	3355	1170	1129	1211	0	0	0	0	0	0	28.83	25.86	28.83
2420	0.55	116.8	2434	3355	1130	1209	141.0	10.0	445	2427	0.00	2.25	0.00	0.000	1030	0.000	0.035	2445	1937	1169	1130	1209	0	0	0	0	0	0	28.83	25.94	28.83
2554	0.55	116.8	2444	1936	1130	1209	129.6	8.5	470	2560	0.00	2.33	0.00	0.000	516	0.000	0.050	2456	534	1169	1130	1209	0	0	0	0	0	0	28.83	25.99	28.83
2594	0.55	116.8	2456	534	1130	1207	125.2	10.7	477	2601	0.00	2.30	0.00	0.000	1030	0.000	0.031	2456	1949	1168	1130	1207	0	0	0	0	0	0	28.83	26.06	28.83
2727	0.55	116.8	2456	1946	1131	1206	110.8	10.5	502	2733	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	1946	1168	1131	1206	0	0	0	0	0	0	28.83	28.83	28.83
2858	0.55	116.8	2456	1946	1131	1207	96.6	11.9	527	2864	0.00	2.20	0.00	0.000	260	0.000	0.044	2456	3356	1168	1131	1206	0	0	0	0	0	0	28.83	26.15	28.83
2928	0.55	116.8	2456	3356	1131	1206	89.1	10.5	540	2935	0.00	2.22	0.00	0.000	1030	0.000	0.034	2467	1943	1168	1131	1206	0	0	0	0	0	0	28.83	26.19	28.83
3062	0.55	116.8	2466	1943	1131	1206	77.8	7.9	565	3067	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1943	1168	1131	1206	0	0	0	0	0	0	28.83	28.83	28.83
3191	0.55	116.8	1544	1941	1119	1204	67.0	8.0	590	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	1943	1168	1131	1206	0	0	0	0	0	0	28.83	28.83	28.83
3321	0.55	123.0	2466	1943	1131	1206	56.8	7.2	615	3334	0.00	2.22	5.95	0.466	8452	0.000	0.041	2467	3344	1147	1110	1184	0	0	0	0	0	0	28.83	26.19	25.65
3378	0.55	123.0	2466	3343	1110	1184	52.3	8.3	625	3385	0.15	2.22	0.00	0.000	5126	0.169	0.036	2438	1923	1147	1110	1184	0	0	0	0	0	0	26.10	26.22	28.83
3512	0.56	157.9	1488	1920	1099	1182	43.7	6.0	650	3547	0.00	2.38	28.77	0.548	8452	0.000	0.042	2438	3345	1008	956	1061	0	0	0	0	0	0	28.83	25.84	25.36
3571	0.56	157.9	2438	3344	956	1058	39.3	8.0	660	3578	0.00	2.22	0.00	0.000	1030	0.000	0.034	2447	1944	1007	956	1058	0	0	0	0	0	0	28.83	25.91	28.83
3642	0.57	182.3	2446	1943	956	1058	34.2	6.4	673	3672	0.00	2.42	20.92	0.527	8708	0.000	0.051	2458	541	911	859	963	0	0	0	0	0	0	28.83	25.68	25.21
3726	0.57	182.3	2458	541	859	960	26.7	9.6	688	3733	0.00	2.30	0.00	0.000	1030	0.000	0.032	2458	1945	909	859	959	0	0	0	0	0	0	28.83	25.83	28.83
3797	0.57	182.3	2458	1944	859	958	19.7	10.1	701	3803	0.00	2.22	0.00	0.000	260	0.000	0.043	2458	3350	908	859	958	0	0	0	0	0	0	28.83	25.89	28.83
3882	0.57	182.3	1536	3348	855	955	10.4	10.6	717	3888	0.00	2.25	0.00	0.000	1030	0.000	0.036	2469	1937	907	859	956	0	0	0	0	0	0	28.83	25.98	28.83
3952	0.57	182.3	2468	1935	859	956	2.6	10.6	730	3959	0.00	2.33	0.00	0.000	516	0.000	0.050	2480	528	907	859	956	0	0	0	0	0	0	28.83	26.02	28.83
3964	end climb: SURFACE_DEPTH_REACHED
state	3964	begin surface coast
3971	end surface coast: CONTROL_FINISHED_OK
state	3971	begin surface