Glider dive log

Shilshole 14Jan14 * SG189 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 29 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 90 C_ROLL_DIVE 2247 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2247 ALTIM_PING_DEPTH 75

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 100 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 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 -1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2678 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 101

T_DIVE 90 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 110 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 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 -57110.852 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 1001 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 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2580 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -80.87886 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 29 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 1001 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 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 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 75 FERRY_MAX 45 PITCH_MAX 3928 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 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -80.87886 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -57110.852

CAPUPLOAD 1 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 110

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2580 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2247 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2247 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2678 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 35 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 29 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 15 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,110928,4743.187,-12224.745,26,0.9,26,16.6 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.165,0.150

_SM_DEPTHo 1.39 KALMAN_X -4321.2,735.9,-105.8,3657.4,-907.5

_SM_ANGLEo -70.3 KALMAN_Y -1622.1,1270.7,-957.8,1822.2,-923.3

GPS2 150114,111745,4743.082,-12224.779,18,1.6,18,16.6 MHEAD_RNG_PITCHd_Wd 31.1,2650,-11.4,-6.667,-16.61,3287

SPEED_LIMITS 0.067,0.223 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.022481 _24V_AH 23.4,2.831

SM_CCo 4028,38.22,0.145,0,0,1656,250.21 _10V_AH 10.2,2.680

SM_GC 1.76,7.00,2.28,38.22,0.044,0.035,0.145,138,2264,1656,-7.53,-0.62,250.21,0,0,0,0,0,0,26.14,26.11,25.86 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12231.22,150114,090908 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 323292

HUMID 47.91 DATA_FILE_SIZE 26909,436

INTERNAL_PRESSURE 8.46325 CAP_FILE_SIZE 71316,0

TCM_TEMP 17.70 CFSIZE 260165632,253005824

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

ALTIM_TOP_PING 19.1,18.2 GPS 150114,122734,4743.079,-12224.597,33,2.0,33,16.6

ALTIM_BOTTOM_PING 140.6,53.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 215 85.31 SBE_CT 297 24 167.07

Roll_motor 67 55 87.29 WL_BB2FLVMG 936 105 2300.92

VBD_pump_during_apogee 232 1124 6130.61 AA4330 673 33 519.83

VBD_pump_during_surface 38 145 130.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.15 nil 0 0 0.00

Iridium_during_connect 43 160 163.79 nil 0 0 0.00

Iridium_during_xfer 313 223 1634.60 nil 0 0 0.00

Transponder_ping 4 420 39.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.07

TT8 1042 19 210.53

LPSleep 1575 2 35.19

TT8_Active 449 19 90.73

TT8_Sampling 1370 39 556.37

TT8_CF8 131 45 61.64

TT8_Kalman 33 81 27.71

Analog_circuits 896 12 109.71

GPS_charging 0 0 0.00

Compass 747 15 114.31

RAFOS 0 0 0.00

Transponder 27 30 8.33

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

15 -0.57 -146.6 151 2223 1706 1580 0.0 0.0 0 50 0.00 0.00 -32.62 0.000 16386 0.000 0.000 151 2224 2587 2612 2562 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.57 -146.6 151 2223 2612 2562 2.0 -2.7 5 94 8.43 2.25 -21.70 0.000 18948 0.216 0.055 2391 813 3278 3338 3218 0 0 0 0 0 0 25.57 25.79 26.06

173 -0.57 -146.6 2390 813 3339 3217 8.1 -8.5 26 181 0.05 2.25 0.00 0.000 3078 0.195 0.036 2396 2265 3278 3339 3217 0 0 0 0 0 0 25.76 25.88 28.83

244 -0.57 -146.6 1456 2261 3320 3212 13.9 -8.4 39 251 0.00 0.00 0.00 0.000 4102 0.000 0.000 2396 2265 3278 3339 3217 0 0 0 0 0 0 28.83 28.83 28.83

313 -0.57 -146.6 1456 2262 3320 3212 19.2 -7.2 52 320 0.00 0.00 0.00 0.000 4102 0.000 0.000 2396 2265 3278 3340 3217 0 0 0 0 0 0 28.83 28.83 28.83

388 -0.57 -146.6 2396 2265 3340 3217 24.8 -7.4 60 398 0.00 2.30 0.00 0.000 4612 0.000 0.041 2396 813 3278 3340 3216 0 0 0 0 0 0 28.83 25.98 28.83

448 -0.57 -146.6 2396 813 3340 3216 29.7 -8.4 66 458 0.00 2.30 0.00 0.000 3078 0.000 0.034 2387 2270 3277 3339 3216 0 0 0 0 0 0 28.83 26.01 28.83

578 -0.57 -146.6 2387 2269 3340 3216 40.9 -8.5 79 588 0.00 2.22 0.00 0.000 2308 0.000 0.044 2377 3667 3278 3340 3216 0 0 0 0 0 0 28.83 26.04 28.83

658 -0.57 -146.6 2377 3667 3340 3216 47.4 -7.9 87 668 0.08 2.25 0.00 0.000 3078 0.156 0.029 2402 2206 3278 3340 3216 0 0 0 0 0 0 25.98 26.09 28.83

789 -0.57 -146.6 2402 2205 3341 3216 56.0 -5.9 100 798 0.00 2.17 0.00 0.000 4612 0.000 0.041 2402 820 3277 3340 3215 0 0 0 0 0 0 28.83 26.12 28.83

859 -0.57 -146.6 2402 820 3341 3215 60.1 -6.3 107 868 0.00 2.25 0.00 0.000 3078 0.000 0.035 2393 2262 3278 3341 3216 0 0 0 0 0 0 28.83 26.15 28.83

989 -0.57 -146.6 2393 2261 3341 3216 68.2 -6.2 120 990 0.00 0.00 0.00 0.000 2054 0.000 0.000 2393 2261 3278 3341 3216 0 0 0 0 0 0 28.83 28.83 28.83

1108 -0.57 -146.6 2393 2261 3341 3215 77.6 -8.4 132 1109 0.00 0.00 0.00 0.000 2054 0.000 0.000 2393 2261 3278 3341 3216 0 0 0 0 0 0 28.83 28.83 28.83

1228 -0.57 -146.6 2393 2261 3341 3216 88.3 -9.3 144 1229 0.00 0.00 0.00 0.000 2054 0.000 0.000 2393 2261 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1348 -0.57 -146.6 2393 2261 3341 3215 99.3 -8.9 156 1349 0.00 0.00 0.00 0.000 2054 0.000 0.000 2393 2261 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1469 -0.57 -146.6 2393 2262 3341 3215 109.0 -7.4 168 1478 0.00 2.28 0.00 0.000 2564 0.000 0.040 2393 813 3278 3341 3215 0 0 0 0 0 0 28.83 26.25 28.83

1588 -0.57 -146.6 2393 813 3341 3215 118.1 -7.6 180 1598 0.05 2.28 0.00 0.000 3078 0.189 0.034 2400 2266 3278 3341 3215 0 0 0 0 0 0 26.17 26.27 28.83

1718 -0.57 -146.6 2399 2267 3341 3215 126.7 -7.0 193 1728 0.00 2.25 0.00 0.000 4356 0.000 0.044 2391 3675 3278 3341 3215 0 0 0 0 0 0 28.83 26.27 28.83

1778 -0.57 -146.6 2390 3675 3341 3215 131.5 -8.2 199 1788 0.00 2.22 0.00 0.000 3078 0.000 0.028 2391 2214 3278 3341 3215 0 0 0 0 0 0 28.83 26.31 28.83

1908 -0.57 -146.6 2390 2214 3341 3215 142.0 -8.0 212 1918 0.00 2.20 0.00 0.000 2564 0.000 0.040 2391 812 3278 3341 3215 0 0 0 0 0 0 28.83 26.30 28.83

1988 -0.57 -146.6 2390 812 3341 3215 149.1 -8.9 220 1998 0.05 2.28 0.00 0.000 3078 0.187 0.034 2398 2270 3278 3341 3215 0 0 0 0 0 0 26.22 26.32 28.83

2118 -0.57 -146.6 2397 2270 3341 3216 159.4 -7.5 233 2120 0.00 0.00 0.00 0.000 4102 0.000 0.000 2397 2270 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

2238 -0.57 -146.6 2397 2270 3341 3215 169.0 -8.2 245 2239 0.00 0.00 0.00 0.000 4102 0.000 0.000 2397 2270 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

2358 -0.57 -146.6 2398 2270 3341 3215 178.4 -7.5 257 2368 0.00 2.28 0.00 0.000 4612 0.000 0.040 2398 817 3278 3341 3215 0 0 0 0 0 0 28.83 26.34 28.83

2378 end dive: TARGET_DEPTH_EXCEEDED

state 2378 begin apogee

2386 -0.17 0.0 2389 2267 3341 3215 180.0 -7.8 259 2508 0.38 0.00 113.10 1.125 10246 0.119 0.000 2522 2267 2678 2764 2593 0 0 0 0 0 0 26.25 28.83 23.61

2509 end apogee: CONTROL_FINISHED_OK

state 2509 begin climb

2511 0.57 146.6 2522 2267 2765 2593 182.8 0.0 272 2638 0.70 0.00 119.88 1.108 10502 0.080 0.000 2764 2267 2078 2177 1980 0 0 0 0 0 0 24.51 28.83 23.42

2760 0.57 146.6 2764 2267 2174 1979 159.0 13.0 297 2768 0.00 2.38 0.00 0.000 4612 0.000 0.041 2775 826 2076 2173 1980 0 0 0 0 0 0 28.83 25.15 28.83

2818 0.57 146.6 2775 827 2171 1979 151.1 13.2 303 2828 0.00 2.33 0.00 0.000 5126 0.000 0.033 2775 2266 2075 2171 1979 0 0 0 0 0 0 28.83 25.32 28.83

2949 0.57 146.6 2775 2266 2171 1979 134.3 13.1 316 2958 0.00 2.28 0.00 0.000 4356 0.000 0.042 2775 3668 2074 2170 1979 0 0 0 0 0 0 28.83 25.53 28.83

2988 0.57 146.6 2775 3668 2170 1979 128.5 14.3 320 2998 0.05 2.28 0.00 0.000 5126 0.149 0.031 2768 2226 2074 2170 1979 0 0 0 0 0 0 25.48 25.60 28.83

3118 0.57 146.6 2768 2226 2169 1979 111.2 13.7 333 3128 0.00 2.25 0.00 0.000 4612 0.000 0.042 2777 820 2074 2169 1979 0 0 0 0 0 0 28.83 25.72 28.83

3238 0.57 146.6 2778 820 2168 1979 94.3 13.7 345 3248 0.05 2.30 0.00 0.000 5126 0.181 0.032 2762 2271 2073 2168 1979 0 0 0 0 0 0 25.72 25.82 28.83

3368 0.57 146.6 2762 2271 2168 1979 78.2 11.5 358 3370 0.00 0.00 0.00 0.000 2054 0.000 0.000 2762 2271 2073 2168 1979 0 0 0 0 0 0 28.83 28.83 28.83

3488 0.57 146.6 2762 2271 2168 1979 63.3 12.4 370 3498 0.00 2.25 0.00 0.000 2308 0.000 0.041 2762 3672 2073 2168 1979 0 0 0 0 0 0 28.83 25.94 28.83

3508 0.57 146.6 2762 3673 2168 1979 60.6 12.5 372 3518 0.00 2.28 0.00 0.000 5126 0.000 0.029 2771 2204 2073 2167 1979 0 0 0 0 0 0 28.83 25.97 28.83

3638 0.57 146.6 2771 2203 2167 1979 43.5 12.7 385 3648 0.00 2.20 0.00 0.000 4612 0.000 0.041 2782 820 2073 2167 1979 0 0 0 0 0 0 28.83 26.01 28.83

3698 0.57 146.6 2782 820 2166 1979 35.8 12.7 391 3709 0.08 2.28 0.00 0.000 5126 0.157 0.032 2758 2269 2072 2166 1979 0 0 0 0 0 0 25.94 26.05 28.83

3829 0.57 146.6 2758 2269 2166 1979 21.3 11.1 404 3838 0.00 2.22 0.00 0.000 2308 0.000 0.041 2758 3674 2072 2166 1979 0 0 0 0 0 0 28.83 26.06 28.83

3864 0.57 146.6 2758 3675 2166 1979 17.3 11.6 409 3871 0.00 2.22 0.00 0.000 5126 0.000 0.030 2767 2218 2072 2166 1979 0 0 0 0 0 0 28.83 26.08 28.83

3934 0.57 146.6 1744 2215 2112 1971 8.8 12.7 422 3942 0.00 2.17 0.00 0.000 4612 0.000 0.042 2777 823 2072 2166 1979 0 0 0 0 0 0 28.83 26.10 28.83

3977 end climb: SURFACE_DEPTH_REACHED

state 3977 begin surface coast

4009 end surface coast: CONTROL_FINISHED_OK

state 4009 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	29	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	90	C_ROLL_DIVE	2247	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2247	ALTIM_PING_DEPTH	75
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	100	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	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	-1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2678	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	101
T_DIVE	90	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	110	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	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	-57110.852	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	1001	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	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2580	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-80.87886	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	29	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	20

GPS1	150114,110928,4743.187,-12224.745,26,0.9,26,16.6	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.165,0.150
_SM_DEPTHo	1.39	KALMAN_X	-4321.2,735.9,-105.8,3657.4,-907.5
_SM_ANGLEo	-70.3	KALMAN_Y	-1622.1,1270.7,-957.8,1822.2,-923.3
GPS2	150114,111745,4743.082,-12224.779,18,1.6,18,16.6	MHEAD_RNG_PITCHd_Wd	31.1,2650,-11.4,-6.667,-16.61,3287
SPEED_LIMITS	0.067,0.223	D_GRID	180

FINISH	0.4,1.022481	_24V_AH	23.4,2.831
SM_CCo	4028,38.22,0.145,0,0,1656,250.21	_10V_AH	10.2,2.680
SM_GC	1.76,7.00,2.28,38.22,0.044,0.035,0.145,138,2264,1656,-7.53,-0.62,250.21,0,0,0,0,0,0,26.14,26.11,25.86	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12231.22,150114,090908	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	323292
HUMID	47.91	DATA_FILE_SIZE	26909,436
INTERNAL_PRESSURE	8.46325	CAP_FILE_SIZE	71316,0
TCM_TEMP	17.70	CFSIZE	260165632,253005824
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.1,18.2	GPS	150114,122734,4743.079,-12224.597,33,2.0,33,16.6
ALTIM_BOTTOM_PING	140.6,53.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	215	85.31	SBE_CT	297	24	167.07
Roll_motor	67	55	87.29	WL_BB2FLVMG	936	105	2300.92
VBD_pump_during_apogee	232	1124	6130.61	AA4330	673	33	519.83
VBD_pump_during_surface	38	145	130.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.15	nil	0	0	0.00
Iridium_during_connect	43	160	163.79	nil	0	0	0.00
Iridium_during_xfer	313	223	1634.60	nil	0	0	0.00
Transponder_ping	4	420	39.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.07
TT8	1042	19	210.53
LPSleep	1575	2	35.19
TT8_Active	449	19	90.73
TT8_Sampling	1370	39	556.37
TT8_CF8	131	45	61.64
TT8_Kalman	33	81	27.71
Analog_circuits	896	12	109.71
GPS_charging	0	0	0.00
Compass	747	15	114.31
RAFOS	0	0	0.00
Transponder	27	30	8.33

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
15	-0.57	-146.6	151	2223	1706	1580	0.0	0.0	0	50	0.00	0.00	-32.62	0.000	16386	0.000	0.000	151	2224	2587	2612	2562	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.57	-146.6	151	2223	2612	2562	2.0	-2.7	5	94	8.43	2.25	-21.70	0.000	18948	0.216	0.055	2391	813	3278	3338	3218	0	0	0	0	0	0	25.57	25.79	26.06
173	-0.57	-146.6	2390	813	3339	3217	8.1	-8.5	26	181	0.05	2.25	0.00	0.000	3078	0.195	0.036	2396	2265	3278	3339	3217	0	0	0	0	0	0	25.76	25.88	28.83
244	-0.57	-146.6	1456	2261	3320	3212	13.9	-8.4	39	251	0.00	0.00	0.00	0.000	4102	0.000	0.000	2396	2265	3278	3339	3217	0	0	0	0	0	0	28.83	28.83	28.83
313	-0.57	-146.6	1456	2262	3320	3212	19.2	-7.2	52	320	0.00	0.00	0.00	0.000	4102	0.000	0.000	2396	2265	3278	3340	3217	0	0	0	0	0	0	28.83	28.83	28.83
388	-0.57	-146.6	2396	2265	3340	3217	24.8	-7.4	60	398	0.00	2.30	0.00	0.000	4612	0.000	0.041	2396	813	3278	3340	3216	0	0	0	0	0	0	28.83	25.98	28.83
448	-0.57	-146.6	2396	813	3340	3216	29.7	-8.4	66	458	0.00	2.30	0.00	0.000	3078	0.000	0.034	2387	2270	3277	3339	3216	0	0	0	0	0	0	28.83	26.01	28.83
578	-0.57	-146.6	2387	2269	3340	3216	40.9	-8.5	79	588	0.00	2.22	0.00	0.000	2308	0.000	0.044	2377	3667	3278	3340	3216	0	0	0	0	0	0	28.83	26.04	28.83
658	-0.57	-146.6	2377	3667	3340	3216	47.4	-7.9	87	668	0.08	2.25	0.00	0.000	3078	0.156	0.029	2402	2206	3278	3340	3216	0	0	0	0	0	0	25.98	26.09	28.83
789	-0.57	-146.6	2402	2205	3341	3216	56.0	-5.9	100	798	0.00	2.17	0.00	0.000	4612	0.000	0.041	2402	820	3277	3340	3215	0	0	0	0	0	0	28.83	26.12	28.83
859	-0.57	-146.6	2402	820	3341	3215	60.1	-6.3	107	868	0.00	2.25	0.00	0.000	3078	0.000	0.035	2393	2262	3278	3341	3216	0	0	0	0	0	0	28.83	26.15	28.83
989	-0.57	-146.6	2393	2261	3341	3216	68.2	-6.2	120	990	0.00	0.00	0.00	0.000	2054	0.000	0.000	2393	2261	3278	3341	3216	0	0	0	0	0	0	28.83	28.83	28.83
1108	-0.57	-146.6	2393	2261	3341	3215	77.6	-8.4	132	1109	0.00	0.00	0.00	0.000	2054	0.000	0.000	2393	2261	3278	3341	3216	0	0	0	0	0	0	28.83	28.83	28.83
1228	-0.57	-146.6	2393	2261	3341	3216	88.3	-9.3	144	1229	0.00	0.00	0.00	0.000	2054	0.000	0.000	2393	2261	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1348	-0.57	-146.6	2393	2261	3341	3215	99.3	-8.9	156	1349	0.00	0.00	0.00	0.000	2054	0.000	0.000	2393	2261	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1469	-0.57	-146.6	2393	2262	3341	3215	109.0	-7.4	168	1478	0.00	2.28	0.00	0.000	2564	0.000	0.040	2393	813	3278	3341	3215	0	0	0	0	0	0	28.83	26.25	28.83
1588	-0.57	-146.6	2393	813	3341	3215	118.1	-7.6	180	1598	0.05	2.28	0.00	0.000	3078	0.189	0.034	2400	2266	3278	3341	3215	0	0	0	0	0	0	26.17	26.27	28.83
1718	-0.57	-146.6	2399	2267	3341	3215	126.7	-7.0	193	1728	0.00	2.25	0.00	0.000	4356	0.000	0.044	2391	3675	3278	3341	3215	0	0	0	0	0	0	28.83	26.27	28.83
1778	-0.57	-146.6	2390	3675	3341	3215	131.5	-8.2	199	1788	0.00	2.22	0.00	0.000	3078	0.000	0.028	2391	2214	3278	3341	3215	0	0	0	0	0	0	28.83	26.31	28.83
1908	-0.57	-146.6	2390	2214	3341	3215	142.0	-8.0	212	1918	0.00	2.20	0.00	0.000	2564	0.000	0.040	2391	812	3278	3341	3215	0	0	0	0	0	0	28.83	26.30	28.83
1988	-0.57	-146.6	2390	812	3341	3215	149.1	-8.9	220	1998	0.05	2.28	0.00	0.000	3078	0.187	0.034	2398	2270	3278	3341	3215	0	0	0	0	0	0	26.22	26.32	28.83
2118	-0.57	-146.6	2397	2270	3341	3216	159.4	-7.5	233	2120	0.00	0.00	0.00	0.000	4102	0.000	0.000	2397	2270	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
2238	-0.57	-146.6	2397	2270	3341	3215	169.0	-8.2	245	2239	0.00	0.00	0.00	0.000	4102	0.000	0.000	2397	2270	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
2358	-0.57	-146.6	2398	2270	3341	3215	178.4	-7.5	257	2368	0.00	2.28	0.00	0.000	4612	0.000	0.040	2398	817	3278	3341	3215	0	0	0	0	0	0	28.83	26.34	28.83
2378	end dive: TARGET_DEPTH_EXCEEDED
state	2378	begin apogee
2386	-0.17	0.0	2389	2267	3341	3215	180.0	-7.8	259	2508	0.38	0.00	113.10	1.125	10246	0.119	0.000	2522	2267	2678	2764	2593	0	0	0	0	0	0	26.25	28.83	23.61
2509	end apogee: CONTROL_FINISHED_OK
state	2509	begin climb
2511	0.57	146.6	2522	2267	2765	2593	182.8	0.0	272	2638	0.70	0.00	119.88	1.108	10502	0.080	0.000	2764	2267	2078	2177	1980	0	0	0	0	0	0	24.51	28.83	23.42
2760	0.57	146.6	2764	2267	2174	1979	159.0	13.0	297	2768	0.00	2.38	0.00	0.000	4612	0.000	0.041	2775	826	2076	2173	1980	0	0	0	0	0	0	28.83	25.15	28.83
2818	0.57	146.6	2775	827	2171	1979	151.1	13.2	303	2828	0.00	2.33	0.00	0.000	5126	0.000	0.033	2775	2266	2075	2171	1979	0	0	0	0	0	0	28.83	25.32	28.83
2949	0.57	146.6	2775	2266	2171	1979	134.3	13.1	316	2958	0.00	2.28	0.00	0.000	4356	0.000	0.042	2775	3668	2074	2170	1979	0	0	0	0	0	0	28.83	25.53	28.83
2988	0.57	146.6	2775	3668	2170	1979	128.5	14.3	320	2998	0.05	2.28	0.00	0.000	5126	0.149	0.031	2768	2226	2074	2170	1979	0	0	0	0	0	0	25.48	25.60	28.83
3118	0.57	146.6	2768	2226	2169	1979	111.2	13.7	333	3128	0.00	2.25	0.00	0.000	4612	0.000	0.042	2777	820	2074	2169	1979	0	0	0	0	0	0	28.83	25.72	28.83
3238	0.57	146.6	2778	820	2168	1979	94.3	13.7	345	3248	0.05	2.30	0.00	0.000	5126	0.181	0.032	2762	2271	2073	2168	1979	0	0	0	0	0	0	25.72	25.82	28.83
3368	0.57	146.6	2762	2271	2168	1979	78.2	11.5	358	3370	0.00	0.00	0.00	0.000	2054	0.000	0.000	2762	2271	2073	2168	1979	0	0	0	0	0	0	28.83	28.83	28.83
3488	0.57	146.6	2762	2271	2168	1979	63.3	12.4	370	3498	0.00	2.25	0.00	0.000	2308	0.000	0.041	2762	3672	2073	2168	1979	0	0	0	0	0	0	28.83	25.94	28.83
3508	0.57	146.6	2762	3673	2168	1979	60.6	12.5	372	3518	0.00	2.28	0.00	0.000	5126	0.000	0.029	2771	2204	2073	2167	1979	0	0	0	0	0	0	28.83	25.97	28.83
3638	0.57	146.6	2771	2203	2167	1979	43.5	12.7	385	3648	0.00	2.20	0.00	0.000	4612	0.000	0.041	2782	820	2073	2167	1979	0	0	0	0	0	0	28.83	26.01	28.83
3698	0.57	146.6	2782	820	2166	1979	35.8	12.7	391	3709	0.08	2.28	0.00	0.000	5126	0.157	0.032	2758	2269	2072	2166	1979	0	0	0	0	0	0	25.94	26.05	28.83
3829	0.57	146.6	2758	2269	2166	1979	21.3	11.1	404	3838	0.00	2.22	0.00	0.000	2308	0.000	0.041	2758	3674	2072	2166	1979	0	0	0	0	0	0	28.83	26.06	28.83
3864	0.57	146.6	2758	3675	2166	1979	17.3	11.6	409	3871	0.00	2.22	0.00	0.000	5126	0.000	0.030	2767	2218	2072	2166	1979	0	0	0	0	0	0	28.83	26.08	28.83
3934	0.57	146.6	1744	2215	2112	1971	8.8	12.7	422	3942	0.00	2.17	0.00	0.000	4612	0.000	0.042	2777	823	2072	2166	1979	0	0	0	0	0	0	28.83	26.10	28.83
3977	end climb: SURFACE_DEPTH_REACHED
state	3977	begin surface coast
4009	end surface coast: CONTROL_FINISHED_OK
state	4009	begin surface