Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 42 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 320 R_STBD_OVSHOOT 52 XPDR_VALID 6

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -721923.88 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 3 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 138 MINV_24V 19 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2562 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 20 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

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

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 320

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 20 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721923.88

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2562 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 42 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 52 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 17 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051115,140702,4743.599,-12224.615,14,99.0,34,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051115,141500,4743.687,-12224.536,15,1.7,15,18.2 MHEAD_RNG_PITCHd_Wd 164.5,1272,-10.3,-6.667,-14.60,4431

SPEED_LIMITS 0.183,0.256 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.6,1.020281 _10V_AH 10.6,0.932

SM_CCo 3981,21.40,0.055,0,0,831,320.03 FG_AHR_24Vo 0.000

SM_GC 2.30,6.75,1.83,21.40,0.035,0.033,0.055,116,1988,831,-7.56,0.93,320.03,0,0,0,0,0,0,26.29,26.29,26.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12206.43,010908,020257 MEM 323344

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 36799,731

HUMID 49.13 CAP_FILE_SIZE 87268,0

INTERNAL_PRESSURE 8.79286 CFSIZE 260165632,256839680

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

XPDR_PINGS 0 CURRENT 0.025,233.1,1

_24V_AH 24.3,1.391 GPS 051115,152317,4743.045,-12224.673,11,1.8,28,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 102.91 SBE_CT 490 23 285.76

Roll_motor 81 58 115.11 WL_BB2FLVMG 536 105 1368.20

VBD_pump_during_apogee 326 644 5121.66 nil 0 0 0.00

VBD_pump_during_surface 21 55 28.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 55 35.13 nil 0 0 0.00

Iridium_during_connect 39 160 152.68 nil 0 0 0.00

Iridium_during_xfer 286 223 1552.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 30 5.31

TT8 1680 11 204.18

LPSleep 689 2 16.00

TT8_Active 498 11 60.58

TT8_Sampling 1391 39 577.71

TT8_CF8 229 45 111.92

TT8_Kalman 0 0 0.00

Analog_circuits 1133 17 204.29

GPS_charging 0 0 0.00

Compass 1056 15 176.16

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.54 -195.4 119 1983 609 629 0.0 0.0 0 64 0.00 0.00 -45.80 0.000 16386 0.000 0.000 119 1984 1956 1937 1976 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.54 -195.4 118 1983 1937 1977 3.2 -6.7 8 104 8.95 2.28 -18.40 0.000 18692 0.245 0.058 2378 3424 2887 2900 2874 0 0 0 0 0 0 25.64 25.89 26.19

167 -0.54 -195.4 2378 3425 2901 2874 18.6 -12.0 26 174 0.00 2.17 0.00 0.000 1030 0.000 0.030 2378 1995 2887 2901 2874 0 0 0 0 0 0 28.83 26.01 28.83

236 -0.54 -195.4 2378 1994 2902 2874 27.7 -12.7 39 242 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 1994 2888 2902 2874 0 0 0 0 0 0 28.83 28.83 28.83

305 -0.54 -195.4 2378 1994 2903 2874 36.8 -12.8 52 311 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 1994 2888 2903 2874 0 0 0 0 0 0 28.83 28.83 28.83

374 -0.54 -195.4 2378 1994 2903 2874 45.4 -12.2 65 381 0.00 2.12 0.00 0.000 516 0.000 0.041 2379 594 2888 2903 2874 0 0 0 0 0 0 28.83 26.15 28.83

404 -0.54 -195.4 2378 594 2903 2874 49.3 -12.9 70 411 0.00 2.12 0.00 0.000 1030 0.000 0.031 2370 1998 2888 2903 2874 0 0 0 0 0 0 28.83 26.19 28.83

534 -0.54 -195.4 2370 1998 2903 2874 66.2 -12.4 95 540 0.00 2.15 0.00 0.000 260 0.000 0.043 2359 3407 2888 2903 2874 0 0 0 0 0 0 28.83 26.22 28.83

568 -0.54 -195.4 2360 3407 2903 2874 70.4 -12.4 101 576 0.00 2.12 0.00 0.000 1030 0.000 0.029 2360 1990 2888 2903 2874 0 0 0 0 0 0 28.83 26.27 28.83

701 -0.54 -195.4 2359 1990 2903 2874 87.1 -12.9 126 707 0.00 2.10 0.00 0.000 516 0.000 0.041 2360 598 2888 2903 2874 0 0 0 0 0 0 28.83 26.29 28.83

760 -0.54 -195.4 1456 598 2850 2868 95.4 -13.4 137 768 0.15 2.10 0.00 0.000 3078 0.154 0.031 2391 1999 2888 2903 2874 0 0 0 0 0 0 26.21 26.34 28.83

894 -0.54 -195.4 2391 1999 2903 2874 109.7 -10.2 162 901 0.00 2.12 0.00 0.000 260 0.000 0.043 2382 3399 2888 2903 2874 0 0 0 0 0 0 28.83 26.35 28.83

939 -0.54 -195.4 2382 3399 2903 2875 114.6 -10.1 170 946 0.00 2.10 0.00 0.000 1030 0.000 0.028 2382 1989 2889 2903 2875 0 0 0 0 0 0 28.83 26.39 28.83

1070 -0.54 -195.4 2382 1989 2903 2874 128.1 -10.3 195 1077 0.00 2.10 0.00 0.000 516 0.000 0.041 2382 590 2888 2903 2874 0 0 0 0 0 0 28.83 26.40 28.83

1100 -0.54 -195.4 2382 590 2903 2874 131.5 -11.2 200 1107 0.00 2.12 0.00 0.000 1030 0.000 0.030 2373 2008 2889 2904 2874 0 0 0 0 0 0 28.83 26.43 28.83

1231 -0.54 -195.4 2373 2009 2903 2874 146.1 -11.3 225 1239 0.00 2.12 0.00 0.000 260 0.000 0.041 2363 3414 2888 2903 2874 0 0 0 0 0 0 28.83 26.42 28.83

1262 -0.54 -195.4 2363 3414 2903 2875 149.6 -10.8 230 1269 0.00 2.10 0.00 0.000 1030 0.000 0.028 2363 1998 2888 2903 2874 0 0 0 0 0 0 28.83 26.46 28.83

1393 -0.54 -195.4 1440 1995 2849 2867 165.2 -12.1 255 1400 0.00 2.10 0.00 0.000 516 0.000 0.040 2363 593 2888 2903 2874 0 0 0 0 0 0 28.83 26.46 28.83

1427 -0.54 -195.4 1456 593 2851 2868 170.2 -14.5 261 1435 0.15 2.10 0.00 0.000 3078 0.155 0.031 2395 2002 2888 2903 2874 0 0 0 0 0 0 26.36 26.48 28.83

1460 end dive: TARGET_DEPTH_EXCEEDED

state 1460 begin apogee

1467 -0.18 0.0 2395 1730 2903 2874 174.4 -10.8 267 1619 0.32 0.00 144.00 0.645 10246 0.121 0.000 2511 1730 2105 2145 2066 0 0 0 0 0 0 26.38 28.83 24.52

1622 end apogee: CONTROL_FINISHED_OK

state 1622 begin climb

1624 0.54 195.4 2510 1730 2143 2064 181.5 0.0 294 1787 0.68 2.25 150.93 0.633 10756 0.090 0.046 2753 364 1325 1378 1273 0 0 0 0 0 0 25.09 24.86 24.30

1815 0.54 195.4 1792 364 1346 1270 172.7 9.6 327 1821 0.00 2.20 0.00 0.000 1030 0.000 0.031 2754 1756 1323 1374 1273 0 0 0 0 0 0 28.83 25.22 28.83

1946 0.54 195.4 2753 1757 1373 1268 161.1 9.1 352 1952 0.00 2.17 0.00 0.000 260 0.000 0.040 2753 3158 1320 1373 1268 0 0 0 0 0 0 28.83 25.67 28.83

1981 0.54 195.4 2753 3158 1373 1267 157.4 10.5 358 1987 0.00 2.15 0.00 0.000 1030 0.000 0.033 2759 1768 1320 1373 1267 0 0 0 0 0 0 28.83 25.75 28.83

2112 0.54 195.4 1744 1766 1343 1264 144.2 10.2 383 2118 0.00 2.25 0.00 0.000 516 0.000 0.047 2770 337 1319 1373 1266 0 0 0 0 0 0 28.83 25.92 28.83

2155 0.54 195.4 1792 337 1344 1264 139.5 10.4 391 2163 0.15 2.17 0.00 0.000 5126 0.145 0.031 2729 1764 1319 1372 1266 0 0 0 0 0 0 25.88 26.00 28.83

2285 0.54 195.4 1728 1764 1343 1263 129.2 7.4 416 2292 0.00 2.12 0.00 0.000 260 0.000 0.041 2729 3148 1318 1371 1266 0 0 0 0 0 0 28.83 26.08 28.83

2315 0.54 195.4 2729 3148 1371 1265 127.1 7.3 421 2322 0.00 2.15 0.00 0.000 1030 0.000 0.034 2737 1739 1318 1372 1265 0 0 0 0 0 0 28.83 26.12 28.83

2447 0.54 195.4 2736 1739 1372 1265 117.7 8.1 446 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1739 1318 1372 1265 0 0 0 0 0 0 28.83 28.83 28.83

2575 0.54 195.4 1744 1737 1344 1262 107.1 7.9 471 2581 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1739 1318 1372 1265 0 0 0 0 0 0 28.83 28.83 28.83

2704 0.54 195.4 2737 1739 1372 1265 97.4 7.5 496 2710 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1739 1318 1372 1265 0 0 0 0 0 0 28.83 28.83 28.83

2833 0.54 195.4 2736 1739 1372 1265 87.9 7.2 521 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 1739 1318 1372 1265 0 0 0 0 0 0 28.83 28.83 28.83

2962 0.54 195.4 2737 1739 1372 1265 79.1 7.0 546 2969 0.00 2.15 0.00 0.000 516 0.000 0.047 2746 346 1318 1371 1265 0 0 0 0 0 0 28.83 26.36 28.83

2997 0.54 195.4 2744 346 1371 1264 76.5 7.5 552 3004 0.00 2.12 0.00 0.000 1030 0.000 0.031 2746 1762 1317 1370 1264 0 0 0 0 0 0 28.83 26.41 28.83

3128 0.54 195.4 1728 1761 1342 1261 66.8 8.2 577 3135 0.00 2.10 0.00 0.000 260 0.000 0.041 2746 3149 1317 1371 1264 0 0 0 0 0 0 28.83 26.40 28.83

3158 0.54 195.4 2746 3150 1370 1264 64.0 8.8 582 3166 0.00 2.12 0.00 0.000 1030 0.000 0.034 2753 1741 1317 1370 1264 0 0 0 0 0 0 28.83 26.43 28.83

3290 0.54 195.4 1728 1740 1341 1261 52.9 8.7 607 3296 0.00 2.15 0.00 0.000 516 0.000 0.047 2764 343 1317 1371 1264 0 0 0 0 0 0 28.83 26.43 28.83

3329 0.54 195.4 2763 343 1371 1264 49.0 9.9 614 3336 0.00 2.12 0.00 0.000 1030 0.000 0.031 2764 1763 1317 1370 1264 0 0 0 0 0 0 28.83 26.47 28.83

3460 0.54 195.4 1744 1762 1342 1261 36.5 10.2 639 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 1764 1317 1370 1264 0 0 0 0 0 0 28.83 28.83 28.83

3528 0.54 195.4 2763 1764 1370 1263 29.5 10.0 652 3535 0.00 2.20 0.00 0.000 516 0.000 0.046 2773 338 1317 1371 1263 0 0 0 0 0 0 28.83 26.46 28.83

3548 0.54 195.4 2773 338 1370 1263 27.6 9.9 655 3555 0.15 2.12 0.00 0.000 5126 0.145 0.031 2731 1766 1316 1370 1263 0 0 0 0 0 0 26.37 26.50 28.83

3618 0.54 195.4 2730 1766 1370 1263 22.1 7.2 668 3624 0.00 2.10 0.00 0.000 260 0.000 0.041 2730 3157 1316 1370 1263 0 0 0 0 0 0 28.83 26.48 28.83

3667 0.54 195.4 1744 3155 1343 1260 18.5 7.7 677 3674 0.00 2.12 0.00 0.000 1030 0.000 0.034 2738 1740 1316 1370 1263 0 0 0 0 0 0 28.83 26.51 28.83

3738 0.54 195.4 2738 1739 1370 1263 13.1 8.2 690 3744 0.00 2.15 0.00 0.000 516 0.000 0.047 2745 338 1316 1370 1263 0 0 0 0 0 0 28.83 26.48 28.83

3753 0.54 195.4 2745 338 1370 1263 12.0 7.7 692 3759 0.00 2.10 0.00 0.000 1030 0.000 0.031 2746 1750 1316 1370 1263 0 0 0 0 0 0 28.83 26.52 28.83

3823 0.61 268.7 2745 1751 1370 1263 7.6 5.0 705 3860 0.00 2.17 31.90 0.454 8452 0.000 0.041 2746 3159 1034 1086 982 0 0 0 0 0 0 28.83 26.19 25.77

3930 end climb: SURFACE_DEPTH_REACHED

state 3932 begin surface coast

3962 end surface coast: CONTROL_FINISHED_OK

state 3963 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	42	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	320	R_STBD_OVSHOOT	52	XPDR_VALID	6
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-721923.88	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	3	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	138	MINV_24V	19	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2562	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	20	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	051115,140702,4743.599,-12224.615,14,99.0,34,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051115,141500,4743.687,-12224.536,15,1.7,15,18.2	MHEAD_RNG_PITCHd_Wd	164.5,1272,-10.3,-6.667,-14.60,4431
SPEED_LIMITS	0.183,0.256	D_GRID	174

FINISH	0.6,1.020281	_10V_AH	10.6,0.932
SM_CCo	3981,21.40,0.055,0,0,831,320.03	FG_AHR_24Vo	0.000
SM_GC	2.30,6.75,1.83,21.40,0.035,0.033,0.055,116,1988,831,-7.56,0.93,320.03,0,0,0,0,0,0,26.29,26.29,26.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12206.43,010908,020257	MEM	323344
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	36799,731
HUMID	49.13	CAP_FILE_SIZE	87268,0
INTERNAL_PRESSURE	8.79286	CFSIZE	260165632,256839680
TCM_TEMP	20.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.025,233.1,1
_24V_AH	24.3,1.391	GPS	051115,152317,4743.045,-12224.673,11,1.8,28,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	102.91	SBE_CT	490	23	285.76
Roll_motor	81	58	115.11	WL_BB2FLVMG	536	105	1368.20
VBD_pump_during_apogee	326	644	5121.66	nil	0	0	0.00
VBD_pump_during_surface	21	55	28.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	55	35.13	nil	0	0	0.00
Iridium_during_connect	39	160	152.68	nil	0	0	0.00
Iridium_during_xfer	286	223	1552.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	30	5.31
TT8	1680	11	204.18
LPSleep	689	2	16.00
TT8_Active	498	11	60.58
TT8_Sampling	1391	39	577.71
TT8_CF8	229	45	111.92
TT8_Kalman	0	0	0.00
Analog_circuits	1133	17	204.29
GPS_charging	0	0	0.00
Compass	1056	15	176.16
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.54	-195.4	119	1983	609	629	0.0	0.0	0	64	0.00	0.00	-45.80	0.000	16386	0.000	0.000	119	1984	1956	1937	1976	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.54	-195.4	118	1983	1937	1977	3.2	-6.7	8	104	8.95	2.28	-18.40	0.000	18692	0.245	0.058	2378	3424	2887	2900	2874	0	0	0	0	0	0	25.64	25.89	26.19
167	-0.54	-195.4	2378	3425	2901	2874	18.6	-12.0	26	174	0.00	2.17	0.00	0.000	1030	0.000	0.030	2378	1995	2887	2901	2874	0	0	0	0	0	0	28.83	26.01	28.83
236	-0.54	-195.4	2378	1994	2902	2874	27.7	-12.7	39	242	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	1994	2888	2902	2874	0	0	0	0	0	0	28.83	28.83	28.83
305	-0.54	-195.4	2378	1994	2903	2874	36.8	-12.8	52	311	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	1994	2888	2903	2874	0	0	0	0	0	0	28.83	28.83	28.83
374	-0.54	-195.4	2378	1994	2903	2874	45.4	-12.2	65	381	0.00	2.12	0.00	0.000	516	0.000	0.041	2379	594	2888	2903	2874	0	0	0	0	0	0	28.83	26.15	28.83
404	-0.54	-195.4	2378	594	2903	2874	49.3	-12.9	70	411	0.00	2.12	0.00	0.000	1030	0.000	0.031	2370	1998	2888	2903	2874	0	0	0	0	0	0	28.83	26.19	28.83
534	-0.54	-195.4	2370	1998	2903	2874	66.2	-12.4	95	540	0.00	2.15	0.00	0.000	260	0.000	0.043	2359	3407	2888	2903	2874	0	0	0	0	0	0	28.83	26.22	28.83
568	-0.54	-195.4	2360	3407	2903	2874	70.4	-12.4	101	576	0.00	2.12	0.00	0.000	1030	0.000	0.029	2360	1990	2888	2903	2874	0	0	0	0	0	0	28.83	26.27	28.83
701	-0.54	-195.4	2359	1990	2903	2874	87.1	-12.9	126	707	0.00	2.10	0.00	0.000	516	0.000	0.041	2360	598	2888	2903	2874	0	0	0	0	0	0	28.83	26.29	28.83
760	-0.54	-195.4	1456	598	2850	2868	95.4	-13.4	137	768	0.15	2.10	0.00	0.000	3078	0.154	0.031	2391	1999	2888	2903	2874	0	0	0	0	0	0	26.21	26.34	28.83
894	-0.54	-195.4	2391	1999	2903	2874	109.7	-10.2	162	901	0.00	2.12	0.00	0.000	260	0.000	0.043	2382	3399	2888	2903	2874	0	0	0	0	0	0	28.83	26.35	28.83
939	-0.54	-195.4	2382	3399	2903	2875	114.6	-10.1	170	946	0.00	2.10	0.00	0.000	1030	0.000	0.028	2382	1989	2889	2903	2875	0	0	0	0	0	0	28.83	26.39	28.83
1070	-0.54	-195.4	2382	1989	2903	2874	128.1	-10.3	195	1077	0.00	2.10	0.00	0.000	516	0.000	0.041	2382	590	2888	2903	2874	0	0	0	0	0	0	28.83	26.40	28.83
1100	-0.54	-195.4	2382	590	2903	2874	131.5	-11.2	200	1107	0.00	2.12	0.00	0.000	1030	0.000	0.030	2373	2008	2889	2904	2874	0	0	0	0	0	0	28.83	26.43	28.83
1231	-0.54	-195.4	2373	2009	2903	2874	146.1	-11.3	225	1239	0.00	2.12	0.00	0.000	260	0.000	0.041	2363	3414	2888	2903	2874	0	0	0	0	0	0	28.83	26.42	28.83
1262	-0.54	-195.4	2363	3414	2903	2875	149.6	-10.8	230	1269	0.00	2.10	0.00	0.000	1030	0.000	0.028	2363	1998	2888	2903	2874	0	0	0	0	0	0	28.83	26.46	28.83
1393	-0.54	-195.4	1440	1995	2849	2867	165.2	-12.1	255	1400	0.00	2.10	0.00	0.000	516	0.000	0.040	2363	593	2888	2903	2874	0	0	0	0	0	0	28.83	26.46	28.83
1427	-0.54	-195.4	1456	593	2851	2868	170.2	-14.5	261	1435	0.15	2.10	0.00	0.000	3078	0.155	0.031	2395	2002	2888	2903	2874	0	0	0	0	0	0	26.36	26.48	28.83
1460	end dive: TARGET_DEPTH_EXCEEDED
state	1460	begin apogee
1467	-0.18	0.0	2395	1730	2903	2874	174.4	-10.8	267	1619	0.32	0.00	144.00	0.645	10246	0.121	0.000	2511	1730	2105	2145	2066	0	0	0	0	0	0	26.38	28.83	24.52
1622	end apogee: CONTROL_FINISHED_OK
state	1622	begin climb
1624	0.54	195.4	2510	1730	2143	2064	181.5	0.0	294	1787	0.68	2.25	150.93	0.633	10756	0.090	0.046	2753	364	1325	1378	1273	0	0	0	0	0	0	25.09	24.86	24.30
1815	0.54	195.4	1792	364	1346	1270	172.7	9.6	327	1821	0.00	2.20	0.00	0.000	1030	0.000	0.031	2754	1756	1323	1374	1273	0	0	0	0	0	0	28.83	25.22	28.83
1946	0.54	195.4	2753	1757	1373	1268	161.1	9.1	352	1952	0.00	2.17	0.00	0.000	260	0.000	0.040	2753	3158	1320	1373	1268	0	0	0	0	0	0	28.83	25.67	28.83
1981	0.54	195.4	2753	3158	1373	1267	157.4	10.5	358	1987	0.00	2.15	0.00	0.000	1030	0.000	0.033	2759	1768	1320	1373	1267	0	0	0	0	0	0	28.83	25.75	28.83
2112	0.54	195.4	1744	1766	1343	1264	144.2	10.2	383	2118	0.00	2.25	0.00	0.000	516	0.000	0.047	2770	337	1319	1373	1266	0	0	0	0	0	0	28.83	25.92	28.83
2155	0.54	195.4	1792	337	1344	1264	139.5	10.4	391	2163	0.15	2.17	0.00	0.000	5126	0.145	0.031	2729	1764	1319	1372	1266	0	0	0	0	0	0	25.88	26.00	28.83
2285	0.54	195.4	1728	1764	1343	1263	129.2	7.4	416	2292	0.00	2.12	0.00	0.000	260	0.000	0.041	2729	3148	1318	1371	1266	0	0	0	0	0	0	28.83	26.08	28.83
2315	0.54	195.4	2729	3148	1371	1265	127.1	7.3	421	2322	0.00	2.15	0.00	0.000	1030	0.000	0.034	2737	1739	1318	1372	1265	0	0	0	0	0	0	28.83	26.12	28.83
2447	0.54	195.4	2736	1739	1372	1265	117.7	8.1	446	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1739	1318	1372	1265	0	0	0	0	0	0	28.83	28.83	28.83
2575	0.54	195.4	1744	1737	1344	1262	107.1	7.9	471	2581	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1739	1318	1372	1265	0	0	0	0	0	0	28.83	28.83	28.83
2704	0.54	195.4	2737	1739	1372	1265	97.4	7.5	496	2710	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1739	1318	1372	1265	0	0	0	0	0	0	28.83	28.83	28.83
2833	0.54	195.4	2736	1739	1372	1265	87.9	7.2	521	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1739	1318	1372	1265	0	0	0	0	0	0	28.83	28.83	28.83
2962	0.54	195.4	2737	1739	1372	1265	79.1	7.0	546	2969	0.00	2.15	0.00	0.000	516	0.000	0.047	2746	346	1318	1371	1265	0	0	0	0	0	0	28.83	26.36	28.83
2997	0.54	195.4	2744	346	1371	1264	76.5	7.5	552	3004	0.00	2.12	0.00	0.000	1030	0.000	0.031	2746	1762	1317	1370	1264	0	0	0	0	0	0	28.83	26.41	28.83
3128	0.54	195.4	1728	1761	1342	1261	66.8	8.2	577	3135	0.00	2.10	0.00	0.000	260	0.000	0.041	2746	3149	1317	1371	1264	0	0	0	0	0	0	28.83	26.40	28.83
3158	0.54	195.4	2746	3150	1370	1264	64.0	8.8	582	3166	0.00	2.12	0.00	0.000	1030	0.000	0.034	2753	1741	1317	1370	1264	0	0	0	0	0	0	28.83	26.43	28.83
3290	0.54	195.4	1728	1740	1341	1261	52.9	8.7	607	3296	0.00	2.15	0.00	0.000	516	0.000	0.047	2764	343	1317	1371	1264	0	0	0	0	0	0	28.83	26.43	28.83
3329	0.54	195.4	2763	343	1371	1264	49.0	9.9	614	3336	0.00	2.12	0.00	0.000	1030	0.000	0.031	2764	1763	1317	1370	1264	0	0	0	0	0	0	28.83	26.47	28.83
3460	0.54	195.4	1744	1762	1342	1261	36.5	10.2	639	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	1764	1317	1370	1264	0	0	0	0	0	0	28.83	28.83	28.83
3528	0.54	195.4	2763	1764	1370	1263	29.5	10.0	652	3535	0.00	2.20	0.00	0.000	516	0.000	0.046	2773	338	1317	1371	1263	0	0	0	0	0	0	28.83	26.46	28.83
3548	0.54	195.4	2773	338	1370	1263	27.6	9.9	655	3555	0.15	2.12	0.00	0.000	5126	0.145	0.031	2731	1766	1316	1370	1263	0	0	0	0	0	0	26.37	26.50	28.83
3618	0.54	195.4	2730	1766	1370	1263	22.1	7.2	668	3624	0.00	2.10	0.00	0.000	260	0.000	0.041	2730	3157	1316	1370	1263	0	0	0	0	0	0	28.83	26.48	28.83
3667	0.54	195.4	1744	3155	1343	1260	18.5	7.7	677	3674	0.00	2.12	0.00	0.000	1030	0.000	0.034	2738	1740	1316	1370	1263	0	0	0	0	0	0	28.83	26.51	28.83
3738	0.54	195.4	2738	1739	1370	1263	13.1	8.2	690	3744	0.00	2.15	0.00	0.000	516	0.000	0.047	2745	338	1316	1370	1263	0	0	0	0	0	0	28.83	26.48	28.83
3753	0.54	195.4	2745	338	1370	1263	12.0	7.7	692	3759	0.00	2.10	0.00	0.000	1030	0.000	0.031	2746	1750	1316	1370	1263	0	0	0	0	0	0	28.83	26.52	28.83
3823	0.61	268.7	2745	1751	1370	1263	7.6	5.0	705	3860	0.00	2.17	31.90	0.454	8452	0.000	0.041	2746	3159	1034	1086	982	0	0	0	0	0	0	28.83	26.19	25.77
3930	end climb: SURFACE_DEPTH_REACHED
state	3932	begin surface coast
3962	end surface coast: CONTROL_FINISHED_OK
state	3963	begin surface