Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 75

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 52 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 36 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2262 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 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 5 UNCOM_BLEED 60 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 0 T_GPS_CHARGE -3049.657 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 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2699 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -51.046516 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 250

AH0_10V 97 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 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 150 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 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 75 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -51.046516 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -3049.657

CAPUPLOAD 0 HEAD_ERRBAND 15 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 195 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2699 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2262 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 52 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 36 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 11 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 231013,030932,4743.653,-12224.541,3,0.8,5,16.3 TGT_NAME NORTH

_CALLS 3 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.046,0.216

_SM_DEPTHo 0.47 KALMAN_X -71.1,234.8,15.1,-649.2,-193.0

_SM_ANGLEo -64.0 KALMAN_Y -1333.2,-373.0,-31.8,699.9,-305.6

GPS2 231013,031833,4743.713,-12224.521,31,1.2,31,16.3 MHEAD_RNG_PITCHd_Wd 355.7,1458,-11.5,-6.667,-16.81,3244

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.1,1.022500 _24V_AH 24.4,1.457

SM_CCo 3930,0.00,0.000,0,0,1124,279.40 _10V_AH 10.3,1.315

SM_GC 0.56,6.85,2.15,0.00,0.028,0.026,0.000,180,2015,1124,-7.75,1.33,279.40,0,0,0,0,0,0,26.48,26.46,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,231013,030333 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323008

HUMID 42.71 DATA_FILE_SIZE 27065,419

INTERNAL_PRESSURE 8.96647 CAP_FILE_SIZE 70118,0

TCM_TEMP 14.90 CFSIZE 2097872896,2093744128

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.1,6.9 INTR 0,55.74,0x235906,0,24

ALTIM_BOTTOM_PING 125.0,16.0 GPS 231013,042537,4744.287,-12224.397,2,1.0,2,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 205 83.29 SBE_CT 279 22 153.13

Roll_motor 64 44 69.48 AA4330 553 11 151.72

VBD_pump_during_apogee 314 606 4650.09 WL_BB2FLVMT 900 105 2307.28

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 372 75 688.59 nil 0 0 0.00

Transponder_ping 3 420 33.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 30 10.08

TT8 1003 15 157.22

LPSleep 1499 2 33.83

TT8_Active 408 15 64.03

TT8_Sampling 1524 43 685.68

TT8_CF8 54 53 29.73

TT8_Kalman 33 69 23.67

Analog_circuits 1327 14 191.39

GPS_charging 0 0 0.00

Compass 1121 8 95.18

RAFOS 0 0 0.00

Transponder 22 30 6.97

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

15 -0.52 -146.6 174 2027 1344 1109 0.0 0.0 0 82 0.00 0.00 -61.05 0.000 16390 0.000 0.000 174 2027 2861 2871 2851 0 0 0 0 0 0 28.83 28.83 26.45

84 -0.52 -146.6 174 2027 2872 2851 3.4 -7.8 10 98 8.70 0.00 0.00 0.000 2566 0.205 0.000 2522 2027 2863 2881 2845 0 0 0 0 0 0 25.84 28.83 28.83

160 -0.52 -146.6 1504 2025 2861 2832 14.6 -7.9 24 168 0.00 2.20 0.00 0.000 516 0.000 0.041 2523 638 2864 2893 2836 0 0 0 0 0 0 28.83 26.13 28.83

200 -0.52 -146.6 1552 637 2864 2831 17.8 -8.1 31 208 0.00 2.17 0.00 0.000 1030 0.000 0.034 2517 2031 2864 2893 2835 0 0 0 0 0 0 28.83 26.20 28.83

271 -0.52 -146.6 2517 2031 2894 2835 23.3 -8.1 40 280 0.00 2.17 0.00 0.000 260 0.000 0.044 2508 3425 2864 2894 2834 0 0 0 0 0 0 28.83 26.20 28.83

334 -0.52 -146.6 2507 3425 2895 2833 28.7 -8.8 46 344 0.00 2.10 0.00 0.000 1030 0.000 0.027 2508 2016 2864 2895 2833 0 0 0 0 0 0 28.83 26.28 28.83

463 -0.52 -146.6 2507 2016 2896 2833 38.9 -6.8 59 465 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2016 2864 2896 2832 0 0 0 0 0 0 28.83 28.83 28.83

584 -0.52 -146.6 2507 2016 2896 2833 45.7 -5.2 71 594 0.00 2.12 0.00 0.000 516 0.000 0.041 2507 628 2864 2896 2832 0 0 0 0 0 0 28.83 26.32 28.83

708 -0.52 -146.6 2507 628 2897 2832 56.3 -8.9 83 718 0.12 2.10 0.00 0.000 3078 0.131 0.033 2536 2026 2864 2896 2832 0 0 0 0 0 0 26.29 26.39 28.83

838 -0.52 -146.6 2536 2026 2897 2831 65.6 -6.8 96 848 0.00 2.17 0.00 0.000 260 0.000 0.044 2528 3438 2864 2897 2832 0 0 0 0 0 0 28.83 26.39 28.83

921 -0.52 -146.6 2528 3438 2897 2832 71.6 -7.4 104 931 0.00 2.10 0.00 0.000 1030 0.000 0.027 2528 2011 2864 2897 2832 0 0 0 0 0 0 28.83 26.46 28.83

1051 -0.52 -146.6 2528 2011 2898 2832 81.3 -7.4 117 1061 0.00 2.10 0.00 0.000 516 0.000 0.041 2529 633 2865 2898 2832 0 0 0 0 0 0 28.83 26.41 28.83

1127 -0.52 -146.6 2528 633 2899 2832 87.0 -8.1 124 1137 0.00 2.10 0.00 0.000 1030 0.000 0.034 2528 2032 2864 2898 2831 0 0 0 0 0 0 28.83 26.48 28.83

1256 -0.52 -146.6 2527 2032 2900 2831 96.7 -6.8 137 1266 0.00 2.15 0.00 0.000 260 0.000 0.044 2522 3432 2864 2898 2831 0 0 0 0 0 0 28.83 26.46 28.83

1352 -0.52 -146.6 2522 3432 2898 2831 103.8 -7.7 146 1356 0.00 2.10 0.00 0.000 1030 0.000 0.027 2522 2022 2864 2898 2831 0 0 0 0 0 0 28.83 26.53 28.83

1484 -0.52 -146.6 2522 2022 2899 2831 113.2 -6.6 159 1493 0.00 2.10 0.00 0.000 516 0.000 0.041 2522 642 2865 2899 2831 0 0 0 0 0 0 28.83 26.48 28.83

1520 -0.52 -146.6 2522 642 2899 2831 115.5 -7.2 162 1528 0.00 2.12 0.00 0.000 1030 0.000 0.033 2515 2026 2864 2899 2830 0 0 0 0 0 0 28.83 26.53 28.83

1651 -0.52 -146.6 2514 2026 2899 2831 125.0 -7.0 175 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2026 2865 2899 2831 0 0 0 0 0 0 28.83 28.83 28.83

1737 end dive: BOTTOM_OBSTACLE_DETECTED

state 1737 begin apogee

1740 -0.23 0.0 2515 2026 2899 2831 131.6 -7.5 184 1852 0.32 0.00 106.80 0.607 10246 0.097 0.000 2628 2025 2262 2368 2156 0 0 0 0 0 0 26.45 28.83 24.75

1853 end apogee: CONTROL_FINISHED_OK

state 1853 begin climb

1854 0.52 146.6 2628 2025 2368 2156 135.4 0.0 195 1971 0.65 0.00 113.12 0.592 10246 0.068 0.000 2863 2025 1663 1804 1523 0 0 0 0 0 0 25.37 28.83 24.45

2089 0.52 230.3 2864 2025 1804 1517 127.2 4.0 219 2159 0.00 0.00 65.57 0.587 8198 0.000 0.000 2863 2025 1322 1471 1173 0 0 0 0 0 0 28.83 28.83 24.58

2279 0.52 248.8 2863 2025 1471 1168 116.4 6.1 238 2299 0.00 0.00 15.55 0.545 8198 0.000 0.000 2863 2025 1246 1398 1094 0 0 0 0 0 0 28.83 28.83 24.95

2419 0.52 248.8 2863 2025 1398 1092 105.7 8.1 252 2428 0.00 2.17 0.00 0.000 516 0.000 0.043 2864 644 1244 1398 1091 0 0 0 0 0 0 28.83 25.82 28.83

2461 0.52 248.8 2863 644 1398 1090 101.8 9.3 256 2471 0.00 2.12 0.00 0.000 1030 0.000 0.031 2863 2026 1244 1398 1090 0 0 0 0 0 0 28.83 25.93 28.83

2591 0.52 248.8 2863 2026 1398 1089 91.4 7.6 269 2601 0.00 2.20 0.00 0.000 260 0.000 0.043 2863 3433 1243 1398 1089 0 0 0 0 0 0 28.83 26.03 28.83

2634 0.52 248.8 2863 3433 1398 1089 88.3 7.1 273 2644 0.00 2.12 0.00 0.000 1030 0.000 0.028 2865 2019 1243 1398 1089 0 0 0 0 0 0 28.83 26.10 28.83

2764 0.52 248.8 2864 2019 1398 1089 78.7 7.4 286 2774 0.00 2.15 0.00 0.000 516 0.000 0.042 2865 633 1243 1398 1088 0 0 0 0 0 0 28.83 26.13 28.83

2797 0.52 248.8 2865 634 1398 1087 76.5 7.1 289 2807 0.00 2.12 0.00 0.000 1030 0.000 0.031 2865 2031 1242 1398 1087 0 0 0 0 0 0 28.83 26.20 28.83

2927 0.52 248.8 2865 2030 1398 1087 66.7 7.1 302 2936 0.00 2.15 0.00 0.000 260 0.000 0.043 2865 3423 1242 1398 1087 0 0 0 0 0 0 28.83 26.22 28.83

2961 0.52 248.8 2865 3423 1398 1087 63.9 8.5 305 2970 0.00 2.12 0.00 0.000 1030 0.000 0.028 2865 2030 1242 1398 1087 0 0 0 0 0 0 28.83 26.28 28.83

3090 0.52 248.8 2865 2030 1398 1087 54.0 7.4 318 3091 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2030 1242 1398 1087 0 0 0 0 0 0 28.83 28.83 28.83

3209 0.52 248.8 2865 2030 1398 1087 45.3 7.1 330 3211 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 2030 1242 1398 1087 0 0 0 0 0 0 28.83 28.83 28.83

3329 0.52 248.8 2865 2030 1398 1087 36.9 6.9 342 3339 0.00 2.15 0.00 0.000 516 0.000 0.042 2866 629 1242 1398 1086 0 0 0 0 0 0 28.83 26.34 28.83

3382 0.52 248.8 2865 629 1398 1086 33.2 7.0 347 3392 0.00 2.10 0.00 0.000 1030 0.000 0.031 2866 2031 1241 1398 1085 0 0 0 0 0 0 28.83 26.41 28.83

3512 0.52 248.8 2865 2030 1398 1086 23.2 7.7 360 3522 0.00 2.15 0.00 0.000 260 0.000 0.043 2866 3430 1242 1398 1086 0 0 0 0 0 0 28.83 26.39 28.83

3544 0.52 248.8 2866 3430 1398 1085 20.7 8.0 363 3554 0.00 2.10 0.00 0.000 1030 0.000 0.028 2866 2019 1242 1398 1086 0 0 0 0 0 0 28.83 26.44 28.83

3676 0.52 258.1 1768 2017 1380 1084 11.6 6.4 387 3685 0.00 2.20 3.92 0.307 8708 0.000 0.042 2866 635 1208 1362 1054 0 0 0 0 0 0 28.83 26.39 25.79

3727 0.52 278.3 1808 635 1346 1052 8.3 6.0 396 3742 0.00 2.12 9.18 0.076 9222 0.000 0.031 2866 2027 1126 1282 971 0 0 0 0 0 0 28.83 26.45 26.33

3804 0.52 278.3 1792 2025 1268 967 3.5 6.8 410 3812 0.00 2.20 0.00 0.000 260 0.000 0.044 2866 3429 1124 1282 967 0 0 0 0 0 0 28.83 26.40 28.83

3828 end climb: SURFACE_DEPTH_REACHED

state 3828 begin surface coast

3854 end surface coast: CONTROL_FINISHED_OK

state 3855 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	75
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	52	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	36	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2262	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	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	5	UNCOM_BLEED	60	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	0	T_GPS_CHARGE	-3049.657	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	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2699	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-51.046516	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	20

GPS1	231013,030932,4743.653,-12224.541,3,0.8,5,16.3	TGT_NAME	NORTH
_CALLS	3	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.046,0.216
_SM_DEPTHo	0.47	KALMAN_X	-71.1,234.8,15.1,-649.2,-193.0
_SM_ANGLEo	-64.0	KALMAN_Y	-1333.2,-373.0,-31.8,699.9,-305.6
GPS2	231013,031833,4743.713,-12224.521,31,1.2,31,16.3	MHEAD_RNG_PITCHd_Wd	355.7,1458,-11.5,-6.667,-16.81,3244
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	0.1,1.022500	_24V_AH	24.4,1.457
SM_CCo	3930,0.00,0.000,0,0,1124,279.40	_10V_AH	10.3,1.315
SM_GC	0.56,6.85,2.15,0.00,0.028,0.026,0.000,180,2015,1124,-7.75,1.33,279.40,0,0,0,0,0,0,26.48,26.46,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,231013,030333	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323008
HUMID	42.71	DATA_FILE_SIZE	27065,419
INTERNAL_PRESSURE	8.96647	CAP_FILE_SIZE	70118,0
TCM_TEMP	14.90	CFSIZE	2097872896,2093744128
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.1,6.9	INTR	0,55.74,0x235906,0,24
ALTIM_BOTTOM_PING	125.0,16.0	GPS	231013,042537,4744.287,-12224.397,2,1.0,2,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	205	83.29	SBE_CT	279	22	153.13
Roll_motor	64	44	69.48	AA4330	553	11	151.72
VBD_pump_during_apogee	314	606	4650.09	WL_BB2FLVMT	900	105	2307.28
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	372	75	688.59	nil	0	0	0.00
Transponder_ping	3	420	33.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	30	10.08
TT8	1003	15	157.22
LPSleep	1499	2	33.83
TT8_Active	408	15	64.03
TT8_Sampling	1524	43	685.68
TT8_CF8	54	53	29.73
TT8_Kalman	33	69	23.67
Analog_circuits	1327	14	191.39
GPS_charging	0	0	0.00
Compass	1121	8	95.18
RAFOS	0	0	0.00
Transponder	22	30	6.97

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
15	-0.52	-146.6	174	2027	1344	1109	0.0	0.0	0	82	0.00	0.00	-61.05	0.000	16390	0.000	0.000	174	2027	2861	2871	2851	0	0	0	0	0	0	28.83	28.83	26.45
84	-0.52	-146.6	174	2027	2872	2851	3.4	-7.8	10	98	8.70	0.00	0.00	0.000	2566	0.205	0.000	2522	2027	2863	2881	2845	0	0	0	0	0	0	25.84	28.83	28.83
160	-0.52	-146.6	1504	2025	2861	2832	14.6	-7.9	24	168	0.00	2.20	0.00	0.000	516	0.000	0.041	2523	638	2864	2893	2836	0	0	0	0	0	0	28.83	26.13	28.83
200	-0.52	-146.6	1552	637	2864	2831	17.8	-8.1	31	208	0.00	2.17	0.00	0.000	1030	0.000	0.034	2517	2031	2864	2893	2835	0	0	0	0	0	0	28.83	26.20	28.83
271	-0.52	-146.6	2517	2031	2894	2835	23.3	-8.1	40	280	0.00	2.17	0.00	0.000	260	0.000	0.044	2508	3425	2864	2894	2834	0	0	0	0	0	0	28.83	26.20	28.83
334	-0.52	-146.6	2507	3425	2895	2833	28.7	-8.8	46	344	0.00	2.10	0.00	0.000	1030	0.000	0.027	2508	2016	2864	2895	2833	0	0	0	0	0	0	28.83	26.28	28.83
463	-0.52	-146.6	2507	2016	2896	2833	38.9	-6.8	59	465	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2016	2864	2896	2832	0	0	0	0	0	0	28.83	28.83	28.83
584	-0.52	-146.6	2507	2016	2896	2833	45.7	-5.2	71	594	0.00	2.12	0.00	0.000	516	0.000	0.041	2507	628	2864	2896	2832	0	0	0	0	0	0	28.83	26.32	28.83
708	-0.52	-146.6	2507	628	2897	2832	56.3	-8.9	83	718	0.12	2.10	0.00	0.000	3078	0.131	0.033	2536	2026	2864	2896	2832	0	0	0	0	0	0	26.29	26.39	28.83
838	-0.52	-146.6	2536	2026	2897	2831	65.6	-6.8	96	848	0.00	2.17	0.00	0.000	260	0.000	0.044	2528	3438	2864	2897	2832	0	0	0	0	0	0	28.83	26.39	28.83
921	-0.52	-146.6	2528	3438	2897	2832	71.6	-7.4	104	931	0.00	2.10	0.00	0.000	1030	0.000	0.027	2528	2011	2864	2897	2832	0	0	0	0	0	0	28.83	26.46	28.83
1051	-0.52	-146.6	2528	2011	2898	2832	81.3	-7.4	117	1061	0.00	2.10	0.00	0.000	516	0.000	0.041	2529	633	2865	2898	2832	0	0	0	0	0	0	28.83	26.41	28.83
1127	-0.52	-146.6	2528	633	2899	2832	87.0	-8.1	124	1137	0.00	2.10	0.00	0.000	1030	0.000	0.034	2528	2032	2864	2898	2831	0	0	0	0	0	0	28.83	26.48	28.83
1256	-0.52	-146.6	2527	2032	2900	2831	96.7	-6.8	137	1266	0.00	2.15	0.00	0.000	260	0.000	0.044	2522	3432	2864	2898	2831	0	0	0	0	0	0	28.83	26.46	28.83
1352	-0.52	-146.6	2522	3432	2898	2831	103.8	-7.7	146	1356	0.00	2.10	0.00	0.000	1030	0.000	0.027	2522	2022	2864	2898	2831	0	0	0	0	0	0	28.83	26.53	28.83
1484	-0.52	-146.6	2522	2022	2899	2831	113.2	-6.6	159	1493	0.00	2.10	0.00	0.000	516	0.000	0.041	2522	642	2865	2899	2831	0	0	0	0	0	0	28.83	26.48	28.83
1520	-0.52	-146.6	2522	642	2899	2831	115.5	-7.2	162	1528	0.00	2.12	0.00	0.000	1030	0.000	0.033	2515	2026	2864	2899	2830	0	0	0	0	0	0	28.83	26.53	28.83
1651	-0.52	-146.6	2514	2026	2899	2831	125.0	-7.0	175	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2026	2865	2899	2831	0	0	0	0	0	0	28.83	28.83	28.83
1737	end dive: BOTTOM_OBSTACLE_DETECTED
state	1737	begin apogee
1740	-0.23	0.0	2515	2026	2899	2831	131.6	-7.5	184	1852	0.32	0.00	106.80	0.607	10246	0.097	0.000	2628	2025	2262	2368	2156	0	0	0	0	0	0	26.45	28.83	24.75
1853	end apogee: CONTROL_FINISHED_OK
state	1853	begin climb
1854	0.52	146.6	2628	2025	2368	2156	135.4	0.0	195	1971	0.65	0.00	113.12	0.592	10246	0.068	0.000	2863	2025	1663	1804	1523	0	0	0	0	0	0	25.37	28.83	24.45
2089	0.52	230.3	2864	2025	1804	1517	127.2	4.0	219	2159	0.00	0.00	65.57	0.587	8198	0.000	0.000	2863	2025	1322	1471	1173	0	0	0	0	0	0	28.83	28.83	24.58
2279	0.52	248.8	2863	2025	1471	1168	116.4	6.1	238	2299	0.00	0.00	15.55	0.545	8198	0.000	0.000	2863	2025	1246	1398	1094	0	0	0	0	0	0	28.83	28.83	24.95
2419	0.52	248.8	2863	2025	1398	1092	105.7	8.1	252	2428	0.00	2.17	0.00	0.000	516	0.000	0.043	2864	644	1244	1398	1091	0	0	0	0	0	0	28.83	25.82	28.83
2461	0.52	248.8	2863	644	1398	1090	101.8	9.3	256	2471	0.00	2.12	0.00	0.000	1030	0.000	0.031	2863	2026	1244	1398	1090	0	0	0	0	0	0	28.83	25.93	28.83
2591	0.52	248.8	2863	2026	1398	1089	91.4	7.6	269	2601	0.00	2.20	0.00	0.000	260	0.000	0.043	2863	3433	1243	1398	1089	0	0	0	0	0	0	28.83	26.03	28.83
2634	0.52	248.8	2863	3433	1398	1089	88.3	7.1	273	2644	0.00	2.12	0.00	0.000	1030	0.000	0.028	2865	2019	1243	1398	1089	0	0	0	0	0	0	28.83	26.10	28.83
2764	0.52	248.8	2864	2019	1398	1089	78.7	7.4	286	2774	0.00	2.15	0.00	0.000	516	0.000	0.042	2865	633	1243	1398	1088	0	0	0	0	0	0	28.83	26.13	28.83
2797	0.52	248.8	2865	634	1398	1087	76.5	7.1	289	2807	0.00	2.12	0.00	0.000	1030	0.000	0.031	2865	2031	1242	1398	1087	0	0	0	0	0	0	28.83	26.20	28.83
2927	0.52	248.8	2865	2030	1398	1087	66.7	7.1	302	2936	0.00	2.15	0.00	0.000	260	0.000	0.043	2865	3423	1242	1398	1087	0	0	0	0	0	0	28.83	26.22	28.83
2961	0.52	248.8	2865	3423	1398	1087	63.9	8.5	305	2970	0.00	2.12	0.00	0.000	1030	0.000	0.028	2865	2030	1242	1398	1087	0	0	0	0	0	0	28.83	26.28	28.83
3090	0.52	248.8	2865	2030	1398	1087	54.0	7.4	318	3091	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2030	1242	1398	1087	0	0	0	0	0	0	28.83	28.83	28.83
3209	0.52	248.8	2865	2030	1398	1087	45.3	7.1	330	3211	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	2030	1242	1398	1087	0	0	0	0	0	0	28.83	28.83	28.83
3329	0.52	248.8	2865	2030	1398	1087	36.9	6.9	342	3339	0.00	2.15	0.00	0.000	516	0.000	0.042	2866	629	1242	1398	1086	0	0	0	0	0	0	28.83	26.34	28.83
3382	0.52	248.8	2865	629	1398	1086	33.2	7.0	347	3392	0.00	2.10	0.00	0.000	1030	0.000	0.031	2866	2031	1241	1398	1085	0	0	0	0	0	0	28.83	26.41	28.83
3512	0.52	248.8	2865	2030	1398	1086	23.2	7.7	360	3522	0.00	2.15	0.00	0.000	260	0.000	0.043	2866	3430	1242	1398	1086	0	0	0	0	0	0	28.83	26.39	28.83
3544	0.52	248.8	2866	3430	1398	1085	20.7	8.0	363	3554	0.00	2.10	0.00	0.000	1030	0.000	0.028	2866	2019	1242	1398	1086	0	0	0	0	0	0	28.83	26.44	28.83
3676	0.52	258.1	1768	2017	1380	1084	11.6	6.4	387	3685	0.00	2.20	3.92	0.307	8708	0.000	0.042	2866	635	1208	1362	1054	0	0	0	0	0	0	28.83	26.39	25.79
3727	0.52	278.3	1808	635	1346	1052	8.3	6.0	396	3742	0.00	2.12	9.18	0.076	9222	0.000	0.031	2866	2027	1126	1282	971	0	0	0	0	0	0	28.83	26.45	26.33
3804	0.52	278.3	1792	2025	1268	967	3.5	6.8	410	3812	0.00	2.20	0.00	0.000	260	0.000	0.044	2866	3429	1124	1282	967	0	0	0	0	0	0	28.83	26.40	28.83
3828	end climb: SURFACE_DEPTH_REACHED
state	3828	begin surface coast
3854	end surface coast: CONTROL_FINISHED_OK
state	3855	begin surface