Glider dive log

Shilshole 09Oct13 * SG144 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 20 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 90

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

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 2.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 480 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3950 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2930 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 53

T_DIVE 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 20

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -56587.125 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 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 50 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 120 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3930 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3350 FG_AHR_10V 0 SEABIRD_T_G 0.0043491465

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063627562

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5639563e-05

RHO 1.0233001 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.408302 SEABIRD_T_J 2.8485167e-06

MASS 59412 PITCH_GAIN 24.4 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -9.7093372

MASS_COMP 4370 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1118598

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010979992

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00015928292

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 200 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 300

AH0_10V 50 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 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 24.4 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3930 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 120 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 80

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.408302 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -56587.125

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 144 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 0 INT_PRESSURE_YINT 2.2 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3350 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2930 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59412 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4370 ROLL_MIN 200 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3950

DEVICE2 35 MINV_10V 12 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 53 MINV_24V 12 R_STBD_OVSHOOT -20 VBD_MIN 480

DEVICE4 20 MISSION 20 SEABIRD_C_G -9.7093372 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1118598 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0010979992 VBD_TIMEOUT 720

DIVE 14 NOCOMM_ACTION 163 SEABIRD_C_J 0.00015928292 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043491465 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00063627562 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.5639563e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.8485167e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 101013,063103,4744.725,-12224.498,3,1.2,3,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.031,-0.232

_SM_DEPTHo 0.99 KALMAN_X 179.3,57.5,16.9,-1539.8,141.0

_SM_ANGLEo -73.7 KALMAN_Y 689.8,16.9,-166.7,1562.3,734.3

GPS2 101013,063515,4744.774,-12224.489,5,1.2,5,16.3 MHEAD_RNG_PITCHd_Wd 171.4,508,-13.1,-7.500,-17.78,2936

SPEED_LIMITS 0.063,0.234 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.1,1.021908 _24V_AH 13.4,2.972

SM_CCo 3870,110.28,1.195,0,0,1707,300.00 _10V_AH 13.5,0.843

SM_GC 0.98,9.90,0.25,110.28,0.085,0.082,1.195,112,2250,1707,-10.07,0.42,300.00,0,0,0,0,0,0,14.78,14.82,13.71 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12225.08,101013,050524 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 345716

HUMID 59.60 DATA_FILE_SIZE 23579,415

INTERNAL_PRESSURE 8.68462 CAP_FILE_SIZE 92860,0

TCM_TEMP 20.20 CFSIZE 260165632,218570752

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

ALTIM_TOP_PING 19.3,18.9 GPS 101013,074307,4744.900,-12224.846,5,0.8,5,16.3

ALTIM_BOTTOM_PING 170.3,30.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 430 151.35 SBE_CT 285 24 91.68

Roll_motor 71 116 111.60 WL_BB2FLVMG 510 105 718.45

VBD_pump_during_apogee 237 1373 4379.47 AA3830 450 33 199.20

VBD_pump_during_surface 110 1194 1765.73 SBE_O2 303 19 77.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 41.79 nil 0 0 0.00

Iridium_during_connect 45 160 97.47 nil 0 0 0.00

Iridium_during_xfer 107 223 321.57 nil 0 0 0.00

Transponder_ping 5 420 32.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 4.56

TT8 1026 19 274.51

LPSleep 1726 2 51.03

TT8_Active 439 19 117.55

TT8_Sampling 997 39 536.22

TT8_CF8 58 45 36.29

TT8_Kalman 33 81 36.68

Analog_circuits 928 12 150.40

GPS_charging 0 0 0.00

Compass 777 15 157.44

RAFOS 0 0 0.00

Transponder 37 30 15.35

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

14 -0.72 -146.6 115 2341 1774 1624 0.0 0.0 0 58 0.00 0.00 -41.25 0.000 16386 0.000 0.000 115 2341 2959 2926 2992 0 0 0 0 0 0 28.83 28.83 28.83

60 -0.72 -146.6 115 2341 2927 2992 2.0 -4.3 7 97 14.73 2.35 -13.55 0.000 18692 0.431 0.091 3109 3721 3531 3459 3604 0 0 0 0 0 0 14.37 14.57 14.76

119 -0.72 -146.6 3109 3721 3462 3604 7.9 -9.8 17 125 0.00 2.38 0.00 0.000 1030 0.000 0.043 3109 2273 3533 3462 3604 0 0 0 0 0 0 28.83 14.61 28.83

187 -0.72 -146.6 3109 2273 3464 3604 15.8 -12.1 30 194 0.00 2.33 0.00 0.000 516 0.000 0.064 3109 879 3534 3464 3604 0 0 0 0 0 0 28.83 14.62 28.83

323 -0.72 -146.6 3109 878 3465 3604 31.8 -11.7 47 331 0.00 2.42 0.00 0.000 1030 0.000 0.047 3109 2315 3534 3465 3604 0 0 0 0 0 0 28.83 14.66 28.83

451 -0.72 -146.6 3109 2315 3465 3604 46.6 -10.8 60 460 0.00 2.35 0.00 0.000 260 0.000 0.067 3109 3719 3534 3465 3604 0 0 0 0 0 0 28.83 14.71 28.83

545 -0.72 -146.6 3109 3719 3466 3604 56.3 -10.9 69 552 0.00 2.35 0.00 0.000 1030 0.000 0.043 3109 2271 3534 3465 3604 0 0 0 0 0 0 28.83 14.75 28.83

672 -0.72 -146.6 3109 2270 3466 3604 70.1 -10.6 82 673 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2270 3534 3465 3604 0 0 0 0 0 0 28.83 28.83 28.83

791 -0.72 -146.6 3109 2270 3466 3605 83.6 -11.8 94 793 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2270 3535 3466 3604 0 0 0 0 0 0 28.83 28.83 28.83

912 -0.72 -146.6 3109 2270 3466 3605 97.3 -11.1 106 913 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2270 3535 3466 3604 0 0 0 0 0 0 28.83 28.83 28.83

1034 -0.72 -146.6 3109 2270 3466 3604 110.5 -11.3 118 1043 0.00 2.42 0.00 0.000 260 0.000 0.066 3109 3721 3535 3466 3604 0 0 0 0 0 0 28.83 14.73 28.83

1098 -0.72 -146.6 3109 3721 3466 3604 117.6 -11.4 124 1105 0.00 2.35 0.00 0.000 1030 0.000 0.043 3109 2268 3535 3466 3604 0 0 0 0 0 0 28.83 14.82 28.83

1225 -0.72 -146.6 3109 2268 3466 3604 131.0 -10.2 137 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2269 3535 3466 3604 0 0 0 0 0 0 28.83 28.83 28.83

1345 -0.72 -146.6 3108 2269 3465 3605 143.1 -10.2 149 1354 0.00 2.42 0.00 0.000 260 0.000 0.067 3109 3723 3535 3466 3605 0 0 0 0 0 0 28.83 14.81 28.83

1429 -0.72 -146.6 3109 3723 3467 3604 151.8 -10.3 157 1434 0.00 2.33 0.00 0.000 1030 0.000 0.044 3109 2273 3535 3466 3604 0 0 0 0 0 0 28.83 14.83 28.83

1554 -0.72 -146.6 3109 2272 3466 3604 164.2 -10.1 169 1556 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2272 3535 3466 3604 0 0 0 0 0 0 28.83 28.83 28.83

1675 -0.72 -146.6 3109 2272 3466 3604 175.9 -9.1 181 1684 0.00 2.42 0.00 0.000 260 0.000 0.067 3109 3724 3535 3466 3604 0 0 0 0 0 0 28.83 14.83 28.83

1724 end dive: TARGET_DEPTH_EXCEEDED

state 1725 begin apogee

1730 -0.20 0.0 3109 2378 3466 3605 181.0 -10.1 186 1850 0.60 0.00 113.72 1.374 10246 0.238 0.000 3278 2375 2930 2905 2955 0 0 0 0 0 0 14.59 28.83 13.59

1851 end apogee: CONTROL_FINISHED_OK

state 1851 begin climb

1852 0.72 146.6 3278 2376 2903 2955 186.1 0.0 198 1978 1.00 2.45 115.90 1.336 10756 0.182 0.067 3573 980 2330 2334 2326 0 0 0 0 0 0 14.14 14.09 13.44

2010 0.72 146.6 3573 980 2331 2324 176.5 9.3 214 2014 0.00 2.45 0.00 0.000 1030 0.000 0.046 3573 2422 2327 2330 2324 0 0 0 0 0 0 28.83 14.28 28.83

2135 0.72 146.6 3573 2421 2325 2323 162.3 11.0 226 2144 0.00 2.38 0.00 0.000 260 0.000 0.065 3573 3820 2324 2325 2324 0 0 0 0 0 0 28.83 14.48 28.83

2178 0.72 146.6 2768 3819 2261 2313 157.1 12.7 230 2186 0.00 2.42 0.00 0.000 1030 0.000 0.044 3573 2387 2323 2324 2323 0 0 0 0 0 0 28.83 14.50 28.83

2306 0.72 146.6 3574 2387 2323 2323 142.4 10.6 243 2310 0.00 2.38 0.00 0.000 516 0.000 0.068 3573 980 2323 2323 2323 0 0 0 0 0 0 28.83 14.60 28.83

2352 0.72 146.6 3574 980 2323 2323 137.8 10.0 247 2356 0.00 2.38 0.00 0.000 1030 0.000 0.046 3573 2419 2323 2323 2323 0 0 0 0 0 0 28.83 14.65 28.83

2477 0.72 146.6 3573 2420 2322 2323 126.2 9.6 259 2482 0.00 2.35 0.00 0.000 260 0.000 0.065 3573 3825 2322 2322 2323 0 0 0 0 0 0 28.83 14.68 28.83

2523 0.72 146.6 3573 3825 2321 2323 120.7 11.7 263 2527 0.00 2.38 0.00 0.000 1030 0.000 0.045 3574 2379 2322 2321 2323 0 0 0 0 0 0 28.83 14.71 28.83

2649 0.72 146.6 3574 2379 2321 2323 108.7 9.0 275 2658 0.00 2.35 0.00 0.000 516 0.000 0.069 3573 977 2322 2321 2323 0 0 0 0 0 0 28.83 14.72 28.83

2704 0.72 146.6 3573 977 2321 2323 103.6 9.6 280 2711 0.00 2.38 0.00 0.000 1030 0.000 0.046 3574 2428 2322 2321 2323 0 0 0 0 0 0 28.83 14.76 28.83

2830 0.72 146.6 3573 2428 2321 2323 90.4 10.3 293 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2428 2322 2321 2323 0 0 0 0 0 0 28.83 28.83 28.83

2949 0.72 146.6 3573 2428 2321 2323 77.3 10.6 305 2954 0.00 2.45 0.00 0.000 516 0.000 0.067 3573 975 2322 2321 2323 0 0 0 0 0 0 28.83 14.77 28.83

3036 0.72 146.6 3573 975 2321 2323 69.1 9.1 313 3045 0.00 2.35 0.00 0.000 1030 0.000 0.046 3573 2421 2322 2321 2323 0 0 0 0 0 0 28.83 14.81 28.83

3166 0.72 146.6 3573 2421 2320 2323 58.8 7.7 326 3170 0.00 2.33 0.00 0.000 260 0.000 0.065 3573 3825 2321 2320 2323 0 0 0 0 0 0 28.83 14.80 28.83

3231 0.72 146.6 3573 3825 2320 2323 52.4 9.8 332 3236 0.00 2.35 0.00 0.000 1030 0.000 0.046 3573 2374 2321 2320 2323 0 0 0 0 0 0 28.83 14.82 28.83

3357 0.72 146.6 3573 2374 2320 2323 41.3 8.8 344 3358 0.00 0.00 0.00 0.000 6 0.000 0.000 3574 2374 2321 2320 2323 0 0 0 0 0 0 28.83 28.83 28.83

3477 0.72 146.6 3573 2374 2320 2323 30.7 10.0 356 3481 0.00 2.33 0.00 0.000 516 0.000 0.068 3573 975 2321 2320 2323 0 0 0 0 0 0 28.83 14.82 28.83

3522 0.72 146.6 3573 976 2320 2322 26.5 9.2 360 3526 0.00 2.35 0.00 0.000 1030 0.000 0.046 3574 2426 2321 2320 2323 0 0 0 0 0 0 28.83 14.85 28.83

3648 0.73 156.8 3574 2426 2319 2323 16.3 7.1 376 3661 0.00 2.50 8.25 1.050 8708 0.000 0.067 3573 978 2289 2291 2288 0 0 0 0 0 0 28.83 14.78 14.16

3702 0.73 156.8 2688 978 2219 2275 12.1 8.0 386 3709 0.00 2.35 0.00 0.000 1030 0.000 0.046 3573 2423 2288 2290 2287 0 0 0 0 0 0 28.83 14.80 28.83

3771 0.73 156.8 3573 2423 2289 2287 6.5 8.3 399 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2423 2288 2289 2287 0 0 0 0 0 0 28.83 28.83 28.83

3817 end climb: SURFACE_DEPTH_REACHED

state 3817 begin surface coast

3854 end surface coast: CONTROL_FINISHED_OK

state 3854 begin surface

ID	144	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	20	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	90
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
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	2.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	480	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3950	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2930	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	53
T_DIVE	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	20
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-56587.125	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	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	50	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	120	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3930	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3350	FG_AHR_10V	0	SEABIRD_T_G	0.0043491465
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063627562
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5639563e-05
RHO	1.0233001	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.408302	SEABIRD_T_J	2.8485167e-06
MASS	59412	PITCH_GAIN	24.4	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-9.7093372
MASS_COMP	4370	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1118598
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010979992
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00015928292
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	200	ALTIM_TOP_PING_RANGE	20

GPS1	101013,063103,4744.725,-12224.498,3,1.2,3,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.031,-0.232
_SM_DEPTHo	0.99	KALMAN_X	179.3,57.5,16.9,-1539.8,141.0
_SM_ANGLEo	-73.7	KALMAN_Y	689.8,16.9,-166.7,1562.3,734.3
GPS2	101013,063515,4744.774,-12224.489,5,1.2,5,16.3	MHEAD_RNG_PITCHd_Wd	171.4,508,-13.1,-7.500,-17.78,2936
SPEED_LIMITS	0.063,0.234	D_GRID	180

FINISH	-0.1,1.021908	_24V_AH	13.4,2.972
SM_CCo	3870,110.28,1.195,0,0,1707,300.00	_10V_AH	13.5,0.843
SM_GC	0.98,9.90,0.25,110.28,0.085,0.082,1.195,112,2250,1707,-10.07,0.42,300.00,0,0,0,0,0,0,14.78,14.82,13.71	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12225.08,101013,050524	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	345716
HUMID	59.60	DATA_FILE_SIZE	23579,415
INTERNAL_PRESSURE	8.68462	CAP_FILE_SIZE	92860,0
TCM_TEMP	20.20	CFSIZE	260165632,218570752
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.3,18.9	GPS	101013,074307,4744.900,-12224.846,5,0.8,5,16.3
ALTIM_BOTTOM_PING	170.3,30.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	430	151.35	SBE_CT	285	24	91.68
Roll_motor	71	116	111.60	WL_BB2FLVMG	510	105	718.45
VBD_pump_during_apogee	237	1373	4379.47	AA3830	450	33	199.20
VBD_pump_during_surface	110	1194	1765.73	SBE_O2	303	19	77.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	41.79	nil	0	0	0.00
Iridium_during_connect	45	160	97.47	nil	0	0	0.00
Iridium_during_xfer	107	223	321.57	nil	0	0	0.00
Transponder_ping	5	420	32.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	4.56
TT8	1026	19	274.51
LPSleep	1726	2	51.03
TT8_Active	439	19	117.55
TT8_Sampling	997	39	536.22
TT8_CF8	58	45	36.29
TT8_Kalman	33	81	36.68
Analog_circuits	928	12	150.40
GPS_charging	0	0	0.00
Compass	777	15	157.44
RAFOS	0	0	0.00
Transponder	37	30	15.35

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
14	-0.72	-146.6	115	2341	1774	1624	0.0	0.0	0	58	0.00	0.00	-41.25	0.000	16386	0.000	0.000	115	2341	2959	2926	2992	0	0	0	0	0	0	28.83	28.83	28.83
60	-0.72	-146.6	115	2341	2927	2992	2.0	-4.3	7	97	14.73	2.35	-13.55	0.000	18692	0.431	0.091	3109	3721	3531	3459	3604	0	0	0	0	0	0	14.37	14.57	14.76
119	-0.72	-146.6	3109	3721	3462	3604	7.9	-9.8	17	125	0.00	2.38	0.00	0.000	1030	0.000	0.043	3109	2273	3533	3462	3604	0	0	0	0	0	0	28.83	14.61	28.83
187	-0.72	-146.6	3109	2273	3464	3604	15.8	-12.1	30	194	0.00	2.33	0.00	0.000	516	0.000	0.064	3109	879	3534	3464	3604	0	0	0	0	0	0	28.83	14.62	28.83
323	-0.72	-146.6	3109	878	3465	3604	31.8	-11.7	47	331	0.00	2.42	0.00	0.000	1030	0.000	0.047	3109	2315	3534	3465	3604	0	0	0	0	0	0	28.83	14.66	28.83
451	-0.72	-146.6	3109	2315	3465	3604	46.6	-10.8	60	460	0.00	2.35	0.00	0.000	260	0.000	0.067	3109	3719	3534	3465	3604	0	0	0	0	0	0	28.83	14.71	28.83
545	-0.72	-146.6	3109	3719	3466	3604	56.3	-10.9	69	552	0.00	2.35	0.00	0.000	1030	0.000	0.043	3109	2271	3534	3465	3604	0	0	0	0	0	0	28.83	14.75	28.83
672	-0.72	-146.6	3109	2270	3466	3604	70.1	-10.6	82	673	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2270	3534	3465	3604	0	0	0	0	0	0	28.83	28.83	28.83
791	-0.72	-146.6	3109	2270	3466	3605	83.6	-11.8	94	793	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2270	3535	3466	3604	0	0	0	0	0	0	28.83	28.83	28.83
912	-0.72	-146.6	3109	2270	3466	3605	97.3	-11.1	106	913	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2270	3535	3466	3604	0	0	0	0	0	0	28.83	28.83	28.83
1034	-0.72	-146.6	3109	2270	3466	3604	110.5	-11.3	118	1043	0.00	2.42	0.00	0.000	260	0.000	0.066	3109	3721	3535	3466	3604	0	0	0	0	0	0	28.83	14.73	28.83
1098	-0.72	-146.6	3109	3721	3466	3604	117.6	-11.4	124	1105	0.00	2.35	0.00	0.000	1030	0.000	0.043	3109	2268	3535	3466	3604	0	0	0	0	0	0	28.83	14.82	28.83
1225	-0.72	-146.6	3109	2268	3466	3604	131.0	-10.2	137	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2269	3535	3466	3604	0	0	0	0	0	0	28.83	28.83	28.83
1345	-0.72	-146.6	3108	2269	3465	3605	143.1	-10.2	149	1354	0.00	2.42	0.00	0.000	260	0.000	0.067	3109	3723	3535	3466	3605	0	0	0	0	0	0	28.83	14.81	28.83
1429	-0.72	-146.6	3109	3723	3467	3604	151.8	-10.3	157	1434	0.00	2.33	0.00	0.000	1030	0.000	0.044	3109	2273	3535	3466	3604	0	0	0	0	0	0	28.83	14.83	28.83
1554	-0.72	-146.6	3109	2272	3466	3604	164.2	-10.1	169	1556	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2272	3535	3466	3604	0	0	0	0	0	0	28.83	28.83	28.83
1675	-0.72	-146.6	3109	2272	3466	3604	175.9	-9.1	181	1684	0.00	2.42	0.00	0.000	260	0.000	0.067	3109	3724	3535	3466	3604	0	0	0	0	0	0	28.83	14.83	28.83
1724	end dive: TARGET_DEPTH_EXCEEDED
state	1725	begin apogee
1730	-0.20	0.0	3109	2378	3466	3605	181.0	-10.1	186	1850	0.60	0.00	113.72	1.374	10246	0.238	0.000	3278	2375	2930	2905	2955	0	0	0	0	0	0	14.59	28.83	13.59
1851	end apogee: CONTROL_FINISHED_OK
state	1851	begin climb
1852	0.72	146.6	3278	2376	2903	2955	186.1	0.0	198	1978	1.00	2.45	115.90	1.336	10756	0.182	0.067	3573	980	2330	2334	2326	0	0	0	0	0	0	14.14	14.09	13.44
2010	0.72	146.6	3573	980	2331	2324	176.5	9.3	214	2014	0.00	2.45	0.00	0.000	1030	0.000	0.046	3573	2422	2327	2330	2324	0	0	0	0	0	0	28.83	14.28	28.83
2135	0.72	146.6	3573	2421	2325	2323	162.3	11.0	226	2144	0.00	2.38	0.00	0.000	260	0.000	0.065	3573	3820	2324	2325	2324	0	0	0	0	0	0	28.83	14.48	28.83
2178	0.72	146.6	2768	3819	2261	2313	157.1	12.7	230	2186	0.00	2.42	0.00	0.000	1030	0.000	0.044	3573	2387	2323	2324	2323	0	0	0	0	0	0	28.83	14.50	28.83
2306	0.72	146.6	3574	2387	2323	2323	142.4	10.6	243	2310	0.00	2.38	0.00	0.000	516	0.000	0.068	3573	980	2323	2323	2323	0	0	0	0	0	0	28.83	14.60	28.83
2352	0.72	146.6	3574	980	2323	2323	137.8	10.0	247	2356	0.00	2.38	0.00	0.000	1030	0.000	0.046	3573	2419	2323	2323	2323	0	0	0	0	0	0	28.83	14.65	28.83
2477	0.72	146.6	3573	2420	2322	2323	126.2	9.6	259	2482	0.00	2.35	0.00	0.000	260	0.000	0.065	3573	3825	2322	2322	2323	0	0	0	0	0	0	28.83	14.68	28.83
2523	0.72	146.6	3573	3825	2321	2323	120.7	11.7	263	2527	0.00	2.38	0.00	0.000	1030	0.000	0.045	3574	2379	2322	2321	2323	0	0	0	0	0	0	28.83	14.71	28.83
2649	0.72	146.6	3574	2379	2321	2323	108.7	9.0	275	2658	0.00	2.35	0.00	0.000	516	0.000	0.069	3573	977	2322	2321	2323	0	0	0	0	0	0	28.83	14.72	28.83
2704	0.72	146.6	3573	977	2321	2323	103.6	9.6	280	2711	0.00	2.38	0.00	0.000	1030	0.000	0.046	3574	2428	2322	2321	2323	0	0	0	0	0	0	28.83	14.76	28.83
2830	0.72	146.6	3573	2428	2321	2323	90.4	10.3	293	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2428	2322	2321	2323	0	0	0	0	0	0	28.83	28.83	28.83
2949	0.72	146.6	3573	2428	2321	2323	77.3	10.6	305	2954	0.00	2.45	0.00	0.000	516	0.000	0.067	3573	975	2322	2321	2323	0	0	0	0	0	0	28.83	14.77	28.83
3036	0.72	146.6	3573	975	2321	2323	69.1	9.1	313	3045	0.00	2.35	0.00	0.000	1030	0.000	0.046	3573	2421	2322	2321	2323	0	0	0	0	0	0	28.83	14.81	28.83
3166	0.72	146.6	3573	2421	2320	2323	58.8	7.7	326	3170	0.00	2.33	0.00	0.000	260	0.000	0.065	3573	3825	2321	2320	2323	0	0	0	0	0	0	28.83	14.80	28.83
3231	0.72	146.6	3573	3825	2320	2323	52.4	9.8	332	3236	0.00	2.35	0.00	0.000	1030	0.000	0.046	3573	2374	2321	2320	2323	0	0	0	0	0	0	28.83	14.82	28.83
3357	0.72	146.6	3573	2374	2320	2323	41.3	8.8	344	3358	0.00	0.00	0.00	0.000	6	0.000	0.000	3574	2374	2321	2320	2323	0	0	0	0	0	0	28.83	28.83	28.83
3477	0.72	146.6	3573	2374	2320	2323	30.7	10.0	356	3481	0.00	2.33	0.00	0.000	516	0.000	0.068	3573	975	2321	2320	2323	0	0	0	0	0	0	28.83	14.82	28.83
3522	0.72	146.6	3573	976	2320	2322	26.5	9.2	360	3526	0.00	2.35	0.00	0.000	1030	0.000	0.046	3574	2426	2321	2320	2323	0	0	0	0	0	0	28.83	14.85	28.83
3648	0.73	156.8	3574	2426	2319	2323	16.3	7.1	376	3661	0.00	2.50	8.25	1.050	8708	0.000	0.067	3573	978	2289	2291	2288	0	0	0	0	0	0	28.83	14.78	14.16
3702	0.73	156.8	2688	978	2219	2275	12.1	8.0	386	3709	0.00	2.35	0.00	0.000	1030	0.000	0.046	3573	2423	2288	2290	2287	0	0	0	0	0	0	28.83	14.80	28.83
3771	0.73	156.8	3573	2423	2289	2287	6.5	8.3	399	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2423	2288	2289	2287	0	0	0	0	0	0	28.83	28.83	28.83
3817	end climb: SURFACE_DEPTH_REACHED
state	3817	begin surface coast
3854	end surface coast: CONTROL_FINISHED_OK
state	3854	begin surface