Glider dive log

Shilshole 30Oct17 * SG156 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_B 0.0080929501 ROLL_MAX 3865 ALTIM_BOTTOM_PING_RANGE 0

MISSION 10 HD_C 9.8500004e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

DIVE 13 HEADING -1 C_ROLL_DIVE 1800 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 45 C_ROLL_CLIMB 1750 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 5625 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -755 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 75 ALTIM_PULSE 3

D_NO_BLEED 100 SM_CC 230 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 5

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 5 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 451 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3959 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 C_VBD 1345 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.25119999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 35

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 160 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3877 MINV_24V 19 SIM_W 0

APOGEE_PITCH -7 C_PITCH 2350 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 90 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043872492

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 1 SEABIRD_T_H 0.00063743989

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4850315e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.6583925e-06

RHO 1.023 PITCH_GAIN 23 PHONE_SUPPLY 2 SEABIRD_C_G -10.170362

MASS 51746 PITCH_TIMEOUT 18 PRESSURE_YINT -17.227072 SEABIRD_C_H 1.1513186

MASS_COMP 0 PITCH_AD_RATE 100 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_I -0.0020813958

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00025019815

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2977.3

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0038000001 ROLL_MIN 260 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 230

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 100 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 45 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 23 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3877 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 160 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 35 PITCH_VBD_SHIFT 0.00030000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 5625

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -755

APOGEE_PITCH -7 HD_B 0.0080929501 PRESSURE_SLOPE 0.00011457827 T_ABORT 720

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

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 156 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 600

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2350 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 1750 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 1800 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 1345 MASS 51746 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 1 ROLL_MAX 3865 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEVICE2 101 MAX_BUOY 90 ROLL_MIN 260 VBD_DBAND 2

DEVICE3 35 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 32 VBD_MAX 3959

DEVICE5 -1 MISSION 10 R_STBD_OVSHOOT 75 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.170362 VBD_MIN 451

DIVE 13 NAV_MODE 2 SEABIRD_C_H 1.1513186 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 0 SEABIRD_C_I -0.0020813958 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00025019815 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2977.3 W_ADJ_DBAND 0

D_FINISH 5 N_GPS 100840 SEABIRD_T_G 0.0043872492 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063743989 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_I 2.4850315e-05 XPDR_VALID 5

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.6583925e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 311017,073602,4744.0654,-12224.3516,11,1.6,32,18.2,0.5,172.0,9,5.0 SPEED_LIMITS 0.107,0.208

_CALLS 2 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG 4744.500,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 341.8,1083,-17.1,-7.500,-19.81,1788

_SM_ANGLEo -68.2 D_GRID 180

GPS2 311017,074821,4743.9238,-12224.3525,14,1.0,30,18.2,0.4,183.7,8,5.2

Post-dive calculations and measurements:

FREEZE 0.31,11.695,-1.532,0,1,0 _24V_AH 23.65,28.208

FINISH 0.3,1.021301 _10V_AH 10.49,0.727

SM_CCo 3966,1.17,0.080,0,0,452,224.57 FG_AHR_24Vo 0.000

SM_GC 1.03,6.57,0.00,1.17,0.048,0.000,0.080,150,1760,452,-6.79,-1.13,224.57,0,0,0,0,0,0,25.84,26.58,25.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4747.28,-12224.09,311017,073827 MEM 191960

TT8_MAMPS 0.026964,0.256158 DATA_FILE_SIZE 48815,693

HUMID 45.03 CAP_FILE_SIZE 81881,0

INTERNAL_PRESSURE 8.95542 CFSIZE 260165632,256688128

TCM_TEMP 12.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.116,188.22,1

ALTIM_BOTTOM_PING 115.3,76.0 GPS 311017,085632,4744.114,-12224.396,12,1.2,39,18.2,0.2,182.0,9,4.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 221 84.18 SBE_CT 468 23 265.69

Roll_motor 52 1192 1487.86 AA4330 591 31 439.94

VBD_pump_during_apogee 150 606 2164.99 WL_blue_red_Chl_old_fw 602 105 1496.76

VBD_pump_during_surface 122 457 1329.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 61 84.41 nil 0 0 0.00

Iridium_during_connect 84 160 321.27 nil 0 0 0.00

Iridium_during_xfer 352 223 1856.57 nil 0 0 0.00

Transponder_ping 1 420 14.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 32 10.64

TT8 1723 12 234.36

LPSleep 669 2 15.39

TT8_Active 451 12 57.83

TT8_Sampling 1543 37 610.20

TT8_CF8 333 44 155.47

TT8_Kalman 0 0 0.00

Analog_circuits 1017 17 181.37

GPS_charging 0 0 0.00

Compass 1064 15 175.60

RAFOS 0 0 0.00

Transponder 16 30 5.08

Guidance and control:

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -0.77 -88.0 153 1745 403 508 0.0 0.0 0 53 0.00 0.00 -41.28 0.000 16386 0.000 0.000 153 1745 1469 1524 1414 0 0 0 0 0 0 25.88 28.83 25.91 9.02 47.00

57 -0.77 -88.0 153 1745 1524 1416 3.7 -10.4 7 78 7.72 2.55 -6.03 0.000 18692 0.221 1.193 2086 3169 1699 1797 1601 0 0 0 0 0 0 24.78 23.65 25.20 9.13 46.37

107 -0.77 -88.0 2085 3169 1797 1604 11.0 -9.2 15 114 0.00 2.20 0.00 0.000 1030 0.000 0.027 2085 1782 1700 1797 1604 0 0 0 0 0 0 25.56 25.47 25.58 9.16 46.10

178 -0.77 -88.0 2085 1781 1797 1604 17.9 -9.8 28 184 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1781 1700 1796 1604 0 0 0 0 0 0 25.98 26.01 26.00 9.15 45.66

248 -0.77 -88.0 2085 1781 1797 1604 24.9 -10.4 41 254 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1781 1700 1797 1604 0 0 0 0 0 0 26.06 26.09 26.08 9.16 45.98

319 -0.77 -88.0 2085 1781 1797 1604 32.0 -9.9 54 326 0.00 2.22 0.00 0.000 260 0.000 0.031 2076 3175 1700 1796 1604 0 0 0 0 0 0 26.13 25.63 26.15 9.16 45.66

396 -0.77 -88.0 2075 3175 1797 1604 40.1 -10.4 68 403 0.00 2.15 0.00 0.000 1030 0.000 0.028 2076 1799 1700 1797 1604 0 0 0 0 0 0 25.78 25.68 25.82 9.15 45.70

530 -0.77 -88.0 2075 1799 1796 1604 53.9 -10.7 93 537 0.00 2.22 0.00 0.000 516 0.000 0.044 2076 401 1700 1797 1604 0 0 0 0 0 0 26.27 25.62 26.29 9.16 45.58

631 -0.77 -88.0 2075 401 1797 1604 65.9 -11.5 112 638 0.12 2.10 0.00 0.000 3078 0.162 0.021 2102 1806 1700 1796 1604 0 0 0 0 0 0 25.44 25.93 25.58 9.15 46.22

766 -0.77 -88.0 2102 1819 1797 1604 78.8 -9.3 137 773 0.00 2.15 0.00 0.000 260 0.000 0.032 2093 3183 1700 1797 1604 0 0 0 0 0 0 26.37 25.78 26.39 9.16 46.41

827 -0.77 -88.0 2093 3183 1796 1604 85.4 -10.7 148 835 0.00 2.17 0.00 0.000 1030 0.000 0.029 2093 1794 1700 1797 1604 0 0 0 0 0 0 25.89 25.79 25.93 9.16 45.35

961 -0.77 -88.0 2093 1794 1797 1604 98.9 -10.7 173 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1794 1700 1797 1604 0 0 0 0 0 0 26.43 26.45 26.45 9.16 46.25

1103 -0.77 -88.0 2093 1794 1797 1604 113.6 -10.0 198 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1794 1700 1797 1604 0 0 0 0 0 0 26.46 26.48 26.48 9.16 45.58

1239 -0.77 -88.0 2093 1794 1797 1604 126.3 -9.4 223 1246 0.00 2.20 0.00 0.000 260 0.000 0.032 2083 3181 1700 1797 1604 0 0 0 0 0 0 26.49 25.82 26.51 9.16 45.31

1335 -0.77 -88.0 2083 3181 1796 1604 135.7 -8.6 241 1342 0.00 2.15 0.00 0.000 1030 0.000 0.028 2083 1794 1700 1796 1604 0 0 0 0 0 0 25.95 25.84 25.98 9.15 45.58

1470 -0.77 -88.0 2083 1794 1796 1604 146.6 -8.6 266 1476 0.00 2.20 0.00 0.000 260 0.000 0.032 2073 3183 1700 1797 1604 0 0 0 0 0 0 26.53 25.84 26.55 9.15 45.58

1590 -0.77 -88.0 2072 3183 1796 1604 157.4 -7.7 289 1598 0.00 2.15 0.00 0.000 1030 0.000 0.027 2073 1792 1700 1796 1604 0 0 0 0 0 0 25.97 25.87 26.01 9.15 45.51

1724 -0.77 -88.0 2072 1792 1797 1604 169.4 -9.6 314 1731 0.00 2.20 0.00 0.000 516 0.000 0.044 2073 402 1700 1797 1603 0 0 0 0 0 0 26.55 25.70 26.58 9.15 46.29

1788 end dive: BOTTOM_OBSTACLE_DETECTED

state 1788 begin apogee

1798 -0.30 0.0 2062 1768 1797 1603 176.6 -9.9 326 1878 0.57 0.00 74.55 0.607 10246 0.147 0.000 2242 1771 1344 1370 1319 0 0 0 0 0 0 24.98 24.73 24.33 9.15 45.90

1879 end apogee: CONTROL_FINISHED_OK

state 1879 begin climb

1883 0.77 88.0 2241 1771 1370 1318 180.1 0.0 339 1968 1.00 0.00 76.35 0.585 10502 0.101 0.000 2580 1772 992 951 1034 0 0 0 0 0 0 25.07 24.34 23.96 9.12 46.02

2095 0.77 88.0 2579 1772 951 1032 163.3 9.5 377 2102 0.00 2.35 0.00 0.000 516 0.000 0.047 2591 352 991 951 1032 0 0 0 0 0 0 25.73 25.18 25.75 9.07 45.43

2147 0.77 88.0 2590 352 951 1032 157.8 10.9 386 2154 0.00 2.15 0.00 0.000 1030 0.000 0.026 2591 1753 991 951 1032 0 0 0 0 0 0 25.56 25.50 25.58 9.07 45.15

2281 0.77 88.0 2590 1757 951 1031 144.3 9.7 411 2287 0.00 2.20 0.00 0.000 260 0.000 0.035 2591 3127 990 951 1030 0 0 0 0 0 0 26.04 25.49 26.06 9.07 45.35

2357 0.77 88.0 2590 3127 951 1029 136.4 10.3 425 2364 0.00 2.20 0.00 0.000 1030 0.000 0.032 2601 1750 990 951 1029 0 0 0 0 0 0 25.68 25.58 25.72 9.07 45.86

2491 0.77 88.0 2600 1749 951 1029 124.2 9.8 450 2498 0.00 2.28 0.00 0.000 516 0.000 0.049 2612 346 990 951 1029 0 0 0 0 0 0 26.21 25.51 26.23 9.08 46.45

2542 0.77 88.0 2611 346 951 1029 119.0 10.1 459 2549 0.00 2.12 0.00 0.000 1030 0.000 0.026 2612 1752 990 951 1029 0 0 0 0 0 0 25.89 25.83 25.91 9.07 47.08

2676 0.77 88.0 2611 1757 951 1029 104.6 10.9 484 2683 0.00 2.17 0.00 0.000 260 0.000 0.035 2612 3123 990 951 1029 0 0 0 0 0 0 26.31 25.67 26.32 9.07 47.00

2707 0.77 88.0 2611 3123 951 1029 100.8 11.5 489 2714 0.00 2.17 0.00 0.000 1030 0.000 0.032 2622 1750 989 951 1028 0 0 0 0 0 0 25.82 25.72 25.86 9.07 47.44

2842 0.77 88.0 2621 1750 951 1029 85.7 11.1 514 2848 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 990 951 1029 0 0 0 0 0 0 26.36 26.39 26.39 9.07 46.25

2971 0.77 88.0 2621 1749 951 1029 72.6 9.3 539 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 990 951 1029 0 0 0 0 0 0 26.41 26.44 26.43 9.07 46.65

3101 0.77 88.0 2621 1750 951 1029 60.1 10.6 564 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 989 951 1028 0 0 0 0 0 0 26.44 26.47 26.46 9.08 47.59

3232 0.77 88.0 2621 1749 951 1028 47.3 10.5 589 3238 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 989 951 1028 0 0 0 0 0 0 26.47 26.50 26.49 9.07 47.24

3363 0.77 88.0 2621 1750 951 1029 33.8 9.9 614 3369 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1749 990 952 1028 0 0 0 0 0 0 26.50 26.53 26.52 9.08 47.32

3433 0.77 88.0 2621 1749 951 1028 27.4 8.7 627 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 989 951 1028 0 0 0 0 0 0 26.51 26.54 26.53 9.08 47.32

3503 0.77 88.0 2621 1750 951 1028 20.7 9.3 640 3509 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 990 951 1029 0 0 0 0 0 0 26.52 26.55 26.54 9.08 47.48

3573 0.77 88.0 2621 1749 951 1028 15.0 8.5 653 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1750 989 951 1028 0 0 0 0 0 0 26.53 26.55 26.55 9.08 47.79

3645 0.77 88.0 2621 1750 951 1029 9.0 9.9 666 3652 0.00 2.25 0.00 0.000 516 0.000 0.048 2633 345 990 952 1028 0 0 0 0 0 0 26.54 25.63 26.55 9.08 47.08

3697 0.77 88.0 2632 345 951 1029 4.3 8.9 675 3705 0.10 2.10 0.00 0.000 5126 0.155 0.025 2602 1758 989 951 1028 0 0 0 0 0 0 25.68 26.05 25.77 9.08 47.08

3738 end climb: SURFACE_DEPTH_REACHED

state 3738 begin surface coast

3798 end surface coast: CONTROL_FINISHED_OK

state 3798 begin surface

ID	156	HD_B	0.0080929501	ROLL_MAX	3865	ALTIM_BOTTOM_PING_RANGE	0
MISSION	10	HD_C	9.8500004e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
DIVE	13	HEADING	-1	C_ROLL_DIVE	1800	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	45	C_ROLL_CLIMB	1750	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	5625	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-755	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	75	ALTIM_PULSE	3
D_NO_BLEED	100	SM_CC	230	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	5
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	5	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	451	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3959	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	C_VBD	1345	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.25119999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	35
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	160	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3877	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-7	C_PITCH	2350	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	90	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043872492
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	1	SEABIRD_T_H	0.00063743989
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4850315e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.6583925e-06
RHO	1.023	PITCH_GAIN	23	PHONE_SUPPLY	2	SEABIRD_C_G	-10.170362
MASS	51746	PITCH_TIMEOUT	18	PRESSURE_YINT	-17.227072	SEABIRD_C_H	1.1513186
MASS_COMP	0	PITCH_AD_RATE	100	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_I	-0.0020813958
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00025019815
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2977.3
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0038000001	ROLL_MIN	260	COMPASS_USE	4

GPS1	311017,073602,4744.0654,-12224.3516,11,1.6,32,18.2,0.5,172.0,9,5.0	SPEED_LIMITS	0.107,0.208
_CALLS	2	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	4744.500,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	341.8,1083,-17.1,-7.500,-19.81,1788
_SM_ANGLEo	-68.2	D_GRID	180
GPS2	311017,074821,4743.9238,-12224.3525,14,1.0,30,18.2,0.4,183.7,8,5.2

FREEZE	0.31,11.695,-1.532,0,1,0	_24V_AH	23.65,28.208
FINISH	0.3,1.021301	_10V_AH	10.49,0.727
SM_CCo	3966,1.17,0.080,0,0,452,224.57	FG_AHR_24Vo	0.000
SM_GC	1.03,6.57,0.00,1.17,0.048,0.000,0.080,150,1760,452,-6.79,-1.13,224.57,0,0,0,0,0,0,25.84,26.58,25.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4747.28,-12224.09,311017,073827	MEM	191960
TT8_MAMPS	0.026964,0.256158	DATA_FILE_SIZE	48815,693
HUMID	45.03	CAP_FILE_SIZE	81881,0
INTERNAL_PRESSURE	8.95542	CFSIZE	260165632,256688128
TCM_TEMP	12.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.116,188.22,1
ALTIM_BOTTOM_PING	115.3,76.0	GPS	311017,085632,4744.114,-12224.396,12,1.2,39,18.2,0.2,182.0,9,4.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	221	84.18	SBE_CT	468	23	265.69
Roll_motor	52	1192	1487.86	AA4330	591	31	439.94
VBD_pump_during_apogee	150	606	2164.99	WL_blue_red_Chl_old_fw	602	105	1496.76
VBD_pump_during_surface	122	457	1329.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	61	84.41	nil	0	0	0.00
Iridium_during_connect	84	160	321.27	nil	0	0	0.00
Iridium_during_xfer	352	223	1856.57	nil	0	0	0.00
Transponder_ping	1	420	14.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	32	10.64
TT8	1723	12	234.36
LPSleep	669	2	15.39
TT8_Active	451	12	57.83
TT8_Sampling	1543	37	610.20
TT8_CF8	333	44	155.47
TT8_Kalman	0	0	0.00
Analog_circuits	1017	17	181.37
GPS_charging	0	0	0.00
Compass	1064	15	175.60
RAFOS	0	0	0.00
Transponder	16	30	5.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-0.77	-88.0	153	1745	403	508	0.0	0.0	0	53	0.00	0.00	-41.28	0.000	16386	0.000	0.000	153	1745	1469	1524	1414	0	0	0	0	0	0	25.88	28.83	25.91	9.02	47.00
57	-0.77	-88.0	153	1745	1524	1416	3.7	-10.4	7	78	7.72	2.55	-6.03	0.000	18692	0.221	1.193	2086	3169	1699	1797	1601	0	0	0	0	0	0	24.78	23.65	25.20	9.13	46.37
107	-0.77	-88.0	2085	3169	1797	1604	11.0	-9.2	15	114	0.00	2.20	0.00	0.000	1030	0.000	0.027	2085	1782	1700	1797	1604	0	0	0	0	0	0	25.56	25.47	25.58	9.16	46.10
178	-0.77	-88.0	2085	1781	1797	1604	17.9	-9.8	28	184	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1781	1700	1796	1604	0	0	0	0	0	0	25.98	26.01	26.00	9.15	45.66
248	-0.77	-88.0	2085	1781	1797	1604	24.9	-10.4	41	254	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1781	1700	1797	1604	0	0	0	0	0	0	26.06	26.09	26.08	9.16	45.98
319	-0.77	-88.0	2085	1781	1797	1604	32.0	-9.9	54	326	0.00	2.22	0.00	0.000	260	0.000	0.031	2076	3175	1700	1796	1604	0	0	0	0	0	0	26.13	25.63	26.15	9.16	45.66
396	-0.77	-88.0	2075	3175	1797	1604	40.1	-10.4	68	403	0.00	2.15	0.00	0.000	1030	0.000	0.028	2076	1799	1700	1797	1604	0	0	0	0	0	0	25.78	25.68	25.82	9.15	45.70
530	-0.77	-88.0	2075	1799	1796	1604	53.9	-10.7	93	537	0.00	2.22	0.00	0.000	516	0.000	0.044	2076	401	1700	1797	1604	0	0	0	0	0	0	26.27	25.62	26.29	9.16	45.58
631	-0.77	-88.0	2075	401	1797	1604	65.9	-11.5	112	638	0.12	2.10	0.00	0.000	3078	0.162	0.021	2102	1806	1700	1796	1604	0	0	0	0	0	0	25.44	25.93	25.58	9.15	46.22
766	-0.77	-88.0	2102	1819	1797	1604	78.8	-9.3	137	773	0.00	2.15	0.00	0.000	260	0.000	0.032	2093	3183	1700	1797	1604	0	0	0	0	0	0	26.37	25.78	26.39	9.16	46.41
827	-0.77	-88.0	2093	3183	1796	1604	85.4	-10.7	148	835	0.00	2.17	0.00	0.000	1030	0.000	0.029	2093	1794	1700	1797	1604	0	0	0	0	0	0	25.89	25.79	25.93	9.16	45.35
961	-0.77	-88.0	2093	1794	1797	1604	98.9	-10.7	173	971	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1794	1700	1797	1604	0	0	0	0	0	0	26.43	26.45	26.45	9.16	46.25
1103	-0.77	-88.0	2093	1794	1797	1604	113.6	-10.0	198	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1794	1700	1797	1604	0	0	0	0	0	0	26.46	26.48	26.48	9.16	45.58
1239	-0.77	-88.0	2093	1794	1797	1604	126.3	-9.4	223	1246	0.00	2.20	0.00	0.000	260	0.000	0.032	2083	3181	1700	1797	1604	0	0	0	0	0	0	26.49	25.82	26.51	9.16	45.31
1335	-0.77	-88.0	2083	3181	1796	1604	135.7	-8.6	241	1342	0.00	2.15	0.00	0.000	1030	0.000	0.028	2083	1794	1700	1796	1604	0	0	0	0	0	0	25.95	25.84	25.98	9.15	45.58
1470	-0.77	-88.0	2083	1794	1796	1604	146.6	-8.6	266	1476	0.00	2.20	0.00	0.000	260	0.000	0.032	2073	3183	1700	1797	1604	0	0	0	0	0	0	26.53	25.84	26.55	9.15	45.58
1590	-0.77	-88.0	2072	3183	1796	1604	157.4	-7.7	289	1598	0.00	2.15	0.00	0.000	1030	0.000	0.027	2073	1792	1700	1796	1604	0	0	0	0	0	0	25.97	25.87	26.01	9.15	45.51
1724	-0.77	-88.0	2072	1792	1797	1604	169.4	-9.6	314	1731	0.00	2.20	0.00	0.000	516	0.000	0.044	2073	402	1700	1797	1603	0	0	0	0	0	0	26.55	25.70	26.58	9.15	46.29
1788	end dive: BOTTOM_OBSTACLE_DETECTED
state	1788	begin apogee
1798	-0.30	0.0	2062	1768	1797	1603	176.6	-9.9	326	1878	0.57	0.00	74.55	0.607	10246	0.147	0.000	2242	1771	1344	1370	1319	0	0	0	0	0	0	24.98	24.73	24.33	9.15	45.90
1879	end apogee: CONTROL_FINISHED_OK
state	1879	begin climb
1883	0.77	88.0	2241	1771	1370	1318	180.1	0.0	339	1968	1.00	0.00	76.35	0.585	10502	0.101	0.000	2580	1772	992	951	1034	0	0	0	0	0	0	25.07	24.34	23.96	9.12	46.02
2095	0.77	88.0	2579	1772	951	1032	163.3	9.5	377	2102	0.00	2.35	0.00	0.000	516	0.000	0.047	2591	352	991	951	1032	0	0	0	0	0	0	25.73	25.18	25.75	9.07	45.43
2147	0.77	88.0	2590	352	951	1032	157.8	10.9	386	2154	0.00	2.15	0.00	0.000	1030	0.000	0.026	2591	1753	991	951	1032	0	0	0	0	0	0	25.56	25.50	25.58	9.07	45.15
2281	0.77	88.0	2590	1757	951	1031	144.3	9.7	411	2287	0.00	2.20	0.00	0.000	260	0.000	0.035	2591	3127	990	951	1030	0	0	0	0	0	0	26.04	25.49	26.06	9.07	45.35
2357	0.77	88.0	2590	3127	951	1029	136.4	10.3	425	2364	0.00	2.20	0.00	0.000	1030	0.000	0.032	2601	1750	990	951	1029	0	0	0	0	0	0	25.68	25.58	25.72	9.07	45.86
2491	0.77	88.0	2600	1749	951	1029	124.2	9.8	450	2498	0.00	2.28	0.00	0.000	516	0.000	0.049	2612	346	990	951	1029	0	0	0	0	0	0	26.21	25.51	26.23	9.08	46.45
2542	0.77	88.0	2611	346	951	1029	119.0	10.1	459	2549	0.00	2.12	0.00	0.000	1030	0.000	0.026	2612	1752	990	951	1029	0	0	0	0	0	0	25.89	25.83	25.91	9.07	47.08
2676	0.77	88.0	2611	1757	951	1029	104.6	10.9	484	2683	0.00	2.17	0.00	0.000	260	0.000	0.035	2612	3123	990	951	1029	0	0	0	0	0	0	26.31	25.67	26.32	9.07	47.00
2707	0.77	88.0	2611	3123	951	1029	100.8	11.5	489	2714	0.00	2.17	0.00	0.000	1030	0.000	0.032	2622	1750	989	951	1028	0	0	0	0	0	0	25.82	25.72	25.86	9.07	47.44
2842	0.77	88.0	2621	1750	951	1029	85.7	11.1	514	2848	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	990	951	1029	0	0	0	0	0	0	26.36	26.39	26.39	9.07	46.25
2971	0.77	88.0	2621	1749	951	1029	72.6	9.3	539	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	990	951	1029	0	0	0	0	0	0	26.41	26.44	26.43	9.07	46.65
3101	0.77	88.0	2621	1750	951	1029	60.1	10.6	564	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	989	951	1028	0	0	0	0	0	0	26.44	26.47	26.46	9.08	47.59
3232	0.77	88.0	2621	1749	951	1028	47.3	10.5	589	3238	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	989	951	1028	0	0	0	0	0	0	26.47	26.50	26.49	9.07	47.24
3363	0.77	88.0	2621	1750	951	1029	33.8	9.9	614	3369	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1749	990	952	1028	0	0	0	0	0	0	26.50	26.53	26.52	9.08	47.32
3433	0.77	88.0	2621	1749	951	1028	27.4	8.7	627	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	989	951	1028	0	0	0	0	0	0	26.51	26.54	26.53	9.08	47.32
3503	0.77	88.0	2621	1750	951	1028	20.7	9.3	640	3509	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	990	951	1029	0	0	0	0	0	0	26.52	26.55	26.54	9.08	47.48
3573	0.77	88.0	2621	1749	951	1028	15.0	8.5	653	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	1750	989	951	1028	0	0	0	0	0	0	26.53	26.55	26.55	9.08	47.79
3645	0.77	88.0	2621	1750	951	1029	9.0	9.9	666	3652	0.00	2.25	0.00	0.000	516	0.000	0.048	2633	345	990	952	1028	0	0	0	0	0	0	26.54	25.63	26.55	9.08	47.08
3697	0.77	88.0	2632	345	951	1029	4.3	8.9	675	3705	0.10	2.10	0.00	0.000	5126	0.155	0.025	2602	1758	989	951	1028	0	0	0	0	0	0	25.68	26.05	25.77	9.08	47.08
3738	end climb: SURFACE_DEPTH_REACHED
state	3738	begin surface coast
3798	end surface coast: CONTROL_FINISHED_OK
state	3798	begin surface