Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 14 * 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 14 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 53 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 43 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 -3053.9114 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 -3053.9114

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 53 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 43 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 14 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 231013,063319,4744.877,-12224.455,19,1.0,19,16.3 TGT_NAME NORTH

_CALLS 2 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.016,-0.220

_SM_DEPTHo 0.44 KALMAN_X 224.6,69.7,-119.2,-605.7,67.9

_SM_ANGLEo -63.5 KALMAN_Y 455.7,-749.6,74.8,1430.8,783.4

GPS2 231013,064227,4744.931,-12224.490,38,0.9,38,16.3 MHEAD_RNG_PITCHd_Wd 167.8,799,-11.5,-6.667,-16.81,3244

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.9,1.022621 _24V_AH 24.4,1.584

SM_CCo 4183,16.17,0.143,1,0,1241,250.21 _10V_AH 10.3,1.498

SM_GC 0.23,7.05,2.17,16.17,0.039,0.031,0.143,183,2029,1241,-7.76,-1.16,250.21,0,0,0,0,1,0,26.27,26.26,25.69 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,231013,060618 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323044

HUMID 41.61 DATA_FILE_SIZE 30338,445

INTERNAL_PRESSURE 8.97623 CAP_FILE_SIZE 80561,0

TCM_TEMP 15.00 CFSIZE 2097872896,2093449216

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

ALTIM_TOP_PING 20.0,7.0 INTR 0,891.86,0x212a0c,0,24

ALTIM_BOTTOM_PING 150.1,52.2 GPS 231013,075408,4744.953,-12224.646,1,1.4,2,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 205 84.54 SBE_CT 296 22 162.74

Roll_motor 81 44 88.34 AA4330 588 11 161.17

VBD_pump_during_apogee 291 617 4387.99 WL_BB2FLVMT 956 105 2450.49

VBD_pump_during_surface 16 143 56.46 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 416 75 769.29 nil 0 0 0.00

Transponder_ping 4 420 46.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 30 12.50

TT8 1082 15 169.51

LPSleep 1496 2 33.76

TT8_Active 417 15 65.37

TT8_Sampling 1718 43 772.99

TT8_CF8 58 53 32.10

TT8_Kalman 33 69 23.64

Analog_circuits 1453 14 209.60

GPS_charging 0 0 0.00

Compass 1257 8 106.69

RAFOS 0 0 0.00

Transponder 30 30 9.38

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 -0.52 -146.6 174 2029 1341 1103 0.0 0.0 0 82 0.00 0.00 -61.22 0.000 16390 0.000 0.000 175 2029 2861 2869 2853 0 0 0 0 0 0 28.83 28.83 26.39

84 -0.52 -146.6 174 2029 2869 2853 3.4 -6.9 10 99 8.73 2.20 0.00 0.000 2308 0.205 0.039 2513 3432 2863 2880 2846 0 0 0 0 0 0 25.77 26.02 28.83

136 -0.52 -146.6 1504 3431 2861 2832 13.2 -10.3 19 144 0.00 2.15 0.00 0.000 1030 0.000 0.027 2513 2026 2863 2891 2836 0 0 0 0 0 0 28.83 26.11 28.83

206 -0.52 -146.6 1488 2024 2863 2830 19.3 -7.9 32 213 0.00 2.20 0.00 0.000 516 0.000 0.041 2513 634 2864 2894 2834 0 0 0 0 0 0 28.83 26.11 28.83

446 -0.52 -146.6 2513 634 2894 2835 41.6 -8.8 56 455 0.00 2.10 0.00 0.000 1030 0.000 0.033 2504 2028 2864 2895 2833 0 0 0 0 0 0 28.83 26.27 28.83

575 -0.52 -146.6 2504 2028 2895 2832 52.2 -8.7 69 584 0.00 2.15 0.00 0.000 516 0.000 0.040 2504 630 2864 2896 2833 0 0 0 0 0 0 28.83 26.28 28.83

647 -0.52 -146.6 2504 629 2896 2832 59.1 -9.4 76 658 0.12 2.12 0.00 0.000 3078 0.134 0.033 2535 2029 2864 2897 2832 0 0 0 0 0 0 26.23 26.34 28.83

778 -0.52 -146.6 2535 2030 2897 2832 68.8 -6.7 89 787 0.00 2.17 0.00 0.000 260 0.000 0.044 2528 3436 2864 2897 2832 0 0 0 0 0 0 28.83 26.34 28.83

884 -0.52 -146.6 2528 3436 2897 2831 75.7 -6.3 99 893 0.00 2.15 0.00 0.000 1030 0.000 0.027 2528 2014 2864 2897 2832 0 0 0 0 0 0 28.83 26.42 28.83

1012 -0.52 -146.6 2527 2014 2898 2832 83.9 -6.8 112 1022 0.00 2.10 0.00 0.000 516 0.000 0.041 2528 635 2865 2899 2832 0 0 0 0 0 0 28.83 26.39 28.83

1066 -0.52 -146.6 2528 636 2898 2832 87.9 -7.6 117 1075 0.00 2.12 0.00 0.000 1030 0.000 0.033 2525 2028 2864 2898 2831 0 0 0 0 0 0 28.83 26.44 28.83

1196 -0.52 -146.6 2525 2028 2898 2831 97.4 -7.3 130 1205 0.00 2.15 0.00 0.000 260 0.000 0.044 2519 3426 2865 2899 2831 0 0 0 0 0 0 28.83 26.42 28.83

1240 -0.52 -146.6 2519 3426 2898 2831 100.6 -7.6 134 1250 0.00 2.12 0.00 0.000 1030 0.000 0.026 2519 2020 2865 2899 2831 0 0 0 0 0 0 28.83 26.48 28.83

1369 -0.52 -146.6 2519 2021 2899 2831 111.8 -8.5 147 1379 0.00 2.17 0.00 0.000 260 0.000 0.044 2509 3432 2865 2899 2831 0 0 0 0 0 0 28.83 26.44 28.83

1422 -0.52 -146.6 2509 3432 2899 2830 116.7 -9.2 152 1426 0.00 2.10 0.00 0.000 1030 0.000 0.027 2509 2023 2863 2898 2829 0 0 0 0 0 0 28.83 26.51 28.83

1554 -0.52 -146.6 2509 2022 2899 2831 129.0 -9.4 165 1563 0.00 2.10 0.00 0.000 516 0.000 0.041 2509 642 2865 2900 2831 0 0 0 0 0 0 28.83 26.46 28.83

1597 -0.52 -146.6 2508 642 2899 2831 133.1 -9.5 169 1607 0.00 2.10 0.00 0.000 1030 0.000 0.033 2504 2035 2865 2900 2830 0 0 0 0 0 0 28.83 26.51 28.83

1727 -0.52 -146.6 2504 2035 2899 2830 145.0 -9.4 182 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2035 2864 2899 2830 0 0 0 0 0 0 28.83 28.83 28.83

1789 end dive: TARGET_DEPTH_EXCEEDED

state 1789 begin apogee

1792 -0.23 0.0 2504 2035 2900 2830 150.1 -8.4 188 1908 0.35 0.00 105.75 0.617 10246 0.099 0.000 2625 2035 2262 2366 2158 0 0 0 0 0 0 26.43 28.83 24.72

1909 end apogee: CONTROL_FINISHED_OK

state 1909 begin climb

1910 0.52 146.6 2625 2035 2366 2159 154.3 0.0 200 2029 0.65 0.00 113.15 0.606 10502 0.068 0.000 2862 2035 1663 1803 1524 0 0 0 0 0 0 25.39 28.83 24.42

2147 0.52 155.7 2862 2034 1803 1520 142.6 6.4 224 2158 0.00 0.00 7.80 0.507 8198 0.000 0.000 2862 2035 1627 1767 1487 0 0 0 0 0 0 28.83 28.83 24.99

2278 0.52 155.7 2862 2035 1767 1486 133.7 6.8 237 2287 0.00 2.20 0.00 0.000 516 0.000 0.042 2865 641 1626 1767 1486 0 0 0 0 0 0 28.83 25.84 28.83

2310 0.52 155.7 2864 641 1767 1487 131.4 7.3 240 2320 0.00 2.12 0.00 0.000 1030 0.000 0.031 2864 2026 1626 1767 1485 0 0 0 0 0 0 28.83 25.93 28.83

2440 0.52 155.7 2864 2026 1767 1486 121.9 7.2 253 2449 0.00 2.20 0.00 0.000 260 0.000 0.042 2864 3436 1626 1767 1486 0 0 0 0 0 0 28.83 26.03 28.83

2474 0.52 155.7 2864 3436 1767 1485 119.5 7.5 256 2483 0.00 2.15 0.00 0.000 1030 0.000 0.028 2865 2036 1626 1767 1486 0 0 0 0 0 0 28.83 26.10 28.83

2602 0.52 155.7 2864 2036 1767 1485 110.1 7.1 269 2612 0.00 2.17 0.00 0.000 516 0.000 0.042 2864 635 1625 1767 1484 0 0 0 0 0 0 28.83 26.13 28.83

2645 0.52 155.7 2864 636 1767 1484 107.2 6.9 273 2654 0.00 2.12 0.00 0.000 1030 0.000 0.031 2865 2032 1625 1767 1484 0 0 0 0 0 0 28.83 26.20 28.83

2775 0.52 157.8 2864 2032 1767 1484 98.3 6.6 286 2785 0.00 2.17 0.00 0.000 260 0.000 0.043 2865 3438 1625 1767 1484 0 0 0 0 0 0 28.83 26.23 28.83

2869 0.52 157.8 2864 3439 1767 1484 91.9 6.8 295 2878 0.00 2.10 0.00 0.000 1030 0.000 0.028 2865 2026 1625 1767 1484 0 0 0 0 0 0 28.83 26.32 28.83

3000 0.52 164.9 2864 2025 1767 1484 83.7 6.4 308 3013 0.00 2.20 8.10 0.453 8708 0.000 0.043 2864 638 1589 1729 1449 0 0 0 0 0 0 28.83 26.21 25.60

3091 0.52 177.5 2865 638 1729 1449 77.8 6.3 317 3112 0.00 2.10 11.02 0.519 9222 0.000 0.031 2864 2026 1537 1678 1397 0 0 0 0 0 0 28.83 26.32 25.53

3231 0.52 177.5 2864 2026 1678 1397 68.5 6.7 331 3241 0.00 2.17 0.00 0.000 260 0.000 0.043 2865 3432 1537 1678 1397 0 0 0 0 0 0 28.83 26.23 28.83

3316 0.52 177.5 2864 3432 1678 1397 62.7 7.1 339 3326 0.00 2.08 0.00 0.000 1030 0.000 0.028 2865 2022 1537 1678 1397 0 0 0 0 0 0 28.83 26.32 28.83

3445 0.52 177.5 2864 2022 1678 1396 54.1 6.7 352 3455 0.00 2.12 0.00 0.000 516 0.000 0.042 2865 635 1537 1678 1396 0 0 0 0 0 0 28.83 26.30 28.83

3498 0.52 177.5 2865 635 1678 1395 50.4 6.9 357 3507 0.00 2.10 0.00 0.000 1030 0.000 0.031 2865 2035 1537 1678 1396 0 0 0 0 0 0 28.83 26.37 28.83

3628 0.52 198.5 2864 2035 1678 1396 41.7 6.0 370 3651 0.00 2.22 17.35 0.525 8452 0.000 0.043 2865 3425 1451 1593 1309 0 0 0 0 0 0 28.83 26.15 25.53

3731 0.52 216.9 2865 3425 1594 1310 34.9 6.1 380 3752 0.00 2.10 15.68 0.515 9222 0.000 0.028 2865 2022 1376 1521 1231 0 0 0 0 0 0 28.83 26.27 25.44

3870 0.52 216.9 2865 2022 1521 1229 22.9 11.1 394 3880 0.00 2.15 0.00 0.000 516 0.000 0.042 2865 634 1374 1521 1228 0 0 0 0 0 0 28.83 26.16 28.83

3920 0.52 216.9 1824 634 1499 1226 18.5 8.6 400 3927 0.00 2.15 0.00 0.000 1030 0.000 0.031 2865 2028 1373 1520 1227 0 0 0 0 0 0 28.83 26.25 28.83

3989 0.52 242.3 1792 2026 1498 1226 13.6 5.9 413 4011 0.00 2.22 12.45 0.430 8452 0.000 0.043 2865 3422 1272 1424 1121 0 0 0 0 0 0 28.83 26.10 25.57

4043 0.52 242.3 2864 3421 1424 1121 9.3 7.7 422 4050 0.00 2.12 0.00 0.000 1030 0.000 0.028 2865 2027 1272 1423 1121 0 0 0 0 0 0 28.83 26.20 28.83

4112 0.52 242.3 1792 2025 1405 1119 4.6 7.1 435 4120 0.00 2.20 0.00 0.000 516 0.000 0.041 2864 634 1271 1423 1120 0 0 0 0 0 0 28.83 26.19 28.83

4151 end climb: SURFACE_DEPTH_REACHED

state 4151 begin surface coast

4167 end surface coast: CONTROL_FINISHED_OK

state 4167 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	14	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	53	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	43	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	-3053.9114	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	231013,063319,4744.877,-12224.455,19,1.0,19,16.3	TGT_NAME	NORTH
_CALLS	2	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.016,-0.220
_SM_DEPTHo	0.44	KALMAN_X	224.6,69.7,-119.2,-605.7,67.9
_SM_ANGLEo	-63.5	KALMAN_Y	455.7,-749.6,74.8,1430.8,783.4
GPS2	231013,064227,4744.931,-12224.490,38,0.9,38,16.3	MHEAD_RNG_PITCHd_Wd	167.8,799,-11.5,-6.667,-16.81,3244
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	0.9,1.022621	_24V_AH	24.4,1.584
SM_CCo	4183,16.17,0.143,1,0,1241,250.21	_10V_AH	10.3,1.498
SM_GC	0.23,7.05,2.17,16.17,0.039,0.031,0.143,183,2029,1241,-7.76,-1.16,250.21,0,0,0,0,1,0,26.27,26.26,25.69	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,231013,060618	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323044
HUMID	41.61	DATA_FILE_SIZE	30338,445
INTERNAL_PRESSURE	8.97623	CAP_FILE_SIZE	80561,0
TCM_TEMP	15.00	CFSIZE	2097872896,2093449216
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_TOP_PING	20.0,7.0	INTR	0,891.86,0x212a0c,0,24
ALTIM_BOTTOM_PING	150.1,52.2	GPS	231013,075408,4744.953,-12224.646,1,1.4,2,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	205	84.54	SBE_CT	296	22	162.74
Roll_motor	81	44	88.34	AA4330	588	11	161.17
VBD_pump_during_apogee	291	617	4387.99	WL_BB2FLVMT	956	105	2450.49
VBD_pump_during_surface	16	143	56.46	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	416	75	769.29	nil	0	0	0.00
Transponder_ping	4	420	46.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	30	12.50
TT8	1082	15	169.51
LPSleep	1496	2	33.76
TT8_Active	417	15	65.37
TT8_Sampling	1718	43	772.99
TT8_CF8	58	53	32.10
TT8_Kalman	33	69	23.64
Analog_circuits	1453	14	209.60
GPS_charging	0	0	0.00
Compass	1257	8	106.69
RAFOS	0	0	0.00
Transponder	30	30	9.38

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	-0.52	-146.6	174	2029	1341	1103	0.0	0.0	0	82	0.00	0.00	-61.22	0.000	16390	0.000	0.000	175	2029	2861	2869	2853	0	0	0	0	0	0	28.83	28.83	26.39
84	-0.52	-146.6	174	2029	2869	2853	3.4	-6.9	10	99	8.73	2.20	0.00	0.000	2308	0.205	0.039	2513	3432	2863	2880	2846	0	0	0	0	0	0	25.77	26.02	28.83
136	-0.52	-146.6	1504	3431	2861	2832	13.2	-10.3	19	144	0.00	2.15	0.00	0.000	1030	0.000	0.027	2513	2026	2863	2891	2836	0	0	0	0	0	0	28.83	26.11	28.83
206	-0.52	-146.6	1488	2024	2863	2830	19.3	-7.9	32	213	0.00	2.20	0.00	0.000	516	0.000	0.041	2513	634	2864	2894	2834	0	0	0	0	0	0	28.83	26.11	28.83
446	-0.52	-146.6	2513	634	2894	2835	41.6	-8.8	56	455	0.00	2.10	0.00	0.000	1030	0.000	0.033	2504	2028	2864	2895	2833	0	0	0	0	0	0	28.83	26.27	28.83
575	-0.52	-146.6	2504	2028	2895	2832	52.2	-8.7	69	584	0.00	2.15	0.00	0.000	516	0.000	0.040	2504	630	2864	2896	2833	0	0	0	0	0	0	28.83	26.28	28.83
647	-0.52	-146.6	2504	629	2896	2832	59.1	-9.4	76	658	0.12	2.12	0.00	0.000	3078	0.134	0.033	2535	2029	2864	2897	2832	0	0	0	0	0	0	26.23	26.34	28.83
778	-0.52	-146.6	2535	2030	2897	2832	68.8	-6.7	89	787	0.00	2.17	0.00	0.000	260	0.000	0.044	2528	3436	2864	2897	2832	0	0	0	0	0	0	28.83	26.34	28.83
884	-0.52	-146.6	2528	3436	2897	2831	75.7	-6.3	99	893	0.00	2.15	0.00	0.000	1030	0.000	0.027	2528	2014	2864	2897	2832	0	0	0	0	0	0	28.83	26.42	28.83
1012	-0.52	-146.6	2527	2014	2898	2832	83.9	-6.8	112	1022	0.00	2.10	0.00	0.000	516	0.000	0.041	2528	635	2865	2899	2832	0	0	0	0	0	0	28.83	26.39	28.83
1066	-0.52	-146.6	2528	636	2898	2832	87.9	-7.6	117	1075	0.00	2.12	0.00	0.000	1030	0.000	0.033	2525	2028	2864	2898	2831	0	0	0	0	0	0	28.83	26.44	28.83
1196	-0.52	-146.6	2525	2028	2898	2831	97.4	-7.3	130	1205	0.00	2.15	0.00	0.000	260	0.000	0.044	2519	3426	2865	2899	2831	0	0	0	0	0	0	28.83	26.42	28.83
1240	-0.52	-146.6	2519	3426	2898	2831	100.6	-7.6	134	1250	0.00	2.12	0.00	0.000	1030	0.000	0.026	2519	2020	2865	2899	2831	0	0	0	0	0	0	28.83	26.48	28.83
1369	-0.52	-146.6	2519	2021	2899	2831	111.8	-8.5	147	1379	0.00	2.17	0.00	0.000	260	0.000	0.044	2509	3432	2865	2899	2831	0	0	0	0	0	0	28.83	26.44	28.83
1422	-0.52	-146.6	2509	3432	2899	2830	116.7	-9.2	152	1426	0.00	2.10	0.00	0.000	1030	0.000	0.027	2509	2023	2863	2898	2829	0	0	0	0	0	0	28.83	26.51	28.83
1554	-0.52	-146.6	2509	2022	2899	2831	129.0	-9.4	165	1563	0.00	2.10	0.00	0.000	516	0.000	0.041	2509	642	2865	2900	2831	0	0	0	0	0	0	28.83	26.46	28.83
1597	-0.52	-146.6	2508	642	2899	2831	133.1	-9.5	169	1607	0.00	2.10	0.00	0.000	1030	0.000	0.033	2504	2035	2865	2900	2830	0	0	0	0	0	0	28.83	26.51	28.83
1727	-0.52	-146.6	2504	2035	2899	2830	145.0	-9.4	182	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2035	2864	2899	2830	0	0	0	0	0	0	28.83	28.83	28.83
1789	end dive: TARGET_DEPTH_EXCEEDED
state	1789	begin apogee
1792	-0.23	0.0	2504	2035	2900	2830	150.1	-8.4	188	1908	0.35	0.00	105.75	0.617	10246	0.099	0.000	2625	2035	2262	2366	2158	0	0	0	0	0	0	26.43	28.83	24.72
1909	end apogee: CONTROL_FINISHED_OK
state	1909	begin climb
1910	0.52	146.6	2625	2035	2366	2159	154.3	0.0	200	2029	0.65	0.00	113.15	0.606	10502	0.068	0.000	2862	2035	1663	1803	1524	0	0	0	0	0	0	25.39	28.83	24.42
2147	0.52	155.7	2862	2034	1803	1520	142.6	6.4	224	2158	0.00	0.00	7.80	0.507	8198	0.000	0.000	2862	2035	1627	1767	1487	0	0	0	0	0	0	28.83	28.83	24.99
2278	0.52	155.7	2862	2035	1767	1486	133.7	6.8	237	2287	0.00	2.20	0.00	0.000	516	0.000	0.042	2865	641	1626	1767	1486	0	0	0	0	0	0	28.83	25.84	28.83
2310	0.52	155.7	2864	641	1767	1487	131.4	7.3	240	2320	0.00	2.12	0.00	0.000	1030	0.000	0.031	2864	2026	1626	1767	1485	0	0	0	0	0	0	28.83	25.93	28.83
2440	0.52	155.7	2864	2026	1767	1486	121.9	7.2	253	2449	0.00	2.20	0.00	0.000	260	0.000	0.042	2864	3436	1626	1767	1486	0	0	0	0	0	0	28.83	26.03	28.83
2474	0.52	155.7	2864	3436	1767	1485	119.5	7.5	256	2483	0.00	2.15	0.00	0.000	1030	0.000	0.028	2865	2036	1626	1767	1486	0	0	0	0	0	0	28.83	26.10	28.83
2602	0.52	155.7	2864	2036	1767	1485	110.1	7.1	269	2612	0.00	2.17	0.00	0.000	516	0.000	0.042	2864	635	1625	1767	1484	0	0	0	0	0	0	28.83	26.13	28.83
2645	0.52	155.7	2864	636	1767	1484	107.2	6.9	273	2654	0.00	2.12	0.00	0.000	1030	0.000	0.031	2865	2032	1625	1767	1484	0	0	0	0	0	0	28.83	26.20	28.83
2775	0.52	157.8	2864	2032	1767	1484	98.3	6.6	286	2785	0.00	2.17	0.00	0.000	260	0.000	0.043	2865	3438	1625	1767	1484	0	0	0	0	0	0	28.83	26.23	28.83
2869	0.52	157.8	2864	3439	1767	1484	91.9	6.8	295	2878	0.00	2.10	0.00	0.000	1030	0.000	0.028	2865	2026	1625	1767	1484	0	0	0	0	0	0	28.83	26.32	28.83
3000	0.52	164.9	2864	2025	1767	1484	83.7	6.4	308	3013	0.00	2.20	8.10	0.453	8708	0.000	0.043	2864	638	1589	1729	1449	0	0	0	0	0	0	28.83	26.21	25.60
3091	0.52	177.5	2865	638	1729	1449	77.8	6.3	317	3112	0.00	2.10	11.02	0.519	9222	0.000	0.031	2864	2026	1537	1678	1397	0	0	0	0	0	0	28.83	26.32	25.53
3231	0.52	177.5	2864	2026	1678	1397	68.5	6.7	331	3241	0.00	2.17	0.00	0.000	260	0.000	0.043	2865	3432	1537	1678	1397	0	0	0	0	0	0	28.83	26.23	28.83
3316	0.52	177.5	2864	3432	1678	1397	62.7	7.1	339	3326	0.00	2.08	0.00	0.000	1030	0.000	0.028	2865	2022	1537	1678	1397	0	0	0	0	0	0	28.83	26.32	28.83
3445	0.52	177.5	2864	2022	1678	1396	54.1	6.7	352	3455	0.00	2.12	0.00	0.000	516	0.000	0.042	2865	635	1537	1678	1396	0	0	0	0	0	0	28.83	26.30	28.83
3498	0.52	177.5	2865	635	1678	1395	50.4	6.9	357	3507	0.00	2.10	0.00	0.000	1030	0.000	0.031	2865	2035	1537	1678	1396	0	0	0	0	0	0	28.83	26.37	28.83
3628	0.52	198.5	2864	2035	1678	1396	41.7	6.0	370	3651	0.00	2.22	17.35	0.525	8452	0.000	0.043	2865	3425	1451	1593	1309	0	0	0	0	0	0	28.83	26.15	25.53
3731	0.52	216.9	2865	3425	1594	1310	34.9	6.1	380	3752	0.00	2.10	15.68	0.515	9222	0.000	0.028	2865	2022	1376	1521	1231	0	0	0	0	0	0	28.83	26.27	25.44
3870	0.52	216.9	2865	2022	1521	1229	22.9	11.1	394	3880	0.00	2.15	0.00	0.000	516	0.000	0.042	2865	634	1374	1521	1228	0	0	0	0	0	0	28.83	26.16	28.83
3920	0.52	216.9	1824	634	1499	1226	18.5	8.6	400	3927	0.00	2.15	0.00	0.000	1030	0.000	0.031	2865	2028	1373	1520	1227	0	0	0	0	0	0	28.83	26.25	28.83
3989	0.52	242.3	1792	2026	1498	1226	13.6	5.9	413	4011	0.00	2.22	12.45	0.430	8452	0.000	0.043	2865	3422	1272	1424	1121	0	0	0	0	0	0	28.83	26.10	25.57
4043	0.52	242.3	2864	3421	1424	1121	9.3	7.7	422	4050	0.00	2.12	0.00	0.000	1030	0.000	0.028	2865	2027	1272	1423	1121	0	0	0	0	0	0	28.83	26.20	28.83
4112	0.52	242.3	1792	2025	1405	1119	4.6	7.1	435	4120	0.00	2.20	0.00	0.000	516	0.000	0.041	2864	634	1271	1423	1120	0	0	0	0	0	0	28.83	26.19	28.83
4151	end climb: SURFACE_DEPTH_REACHED
state	4151	begin surface coast
4167	end surface coast: CONTROL_FINISHED_OK
state	4167	begin surface