Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 15 * 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 15 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 50 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 42 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 -3055.166 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 -3055.166

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 50 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 42 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 15 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 231013,075408,4744.953,-12224.646,1,1.4,2,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.001,-0.221

_SM_DEPTHo 0.50 KALMAN_X 10.2,60.2,-16.9,-672.8,-10.1

_SM_ANGLEo -63.1 KALMAN_Y 1280.3,-543.8,120.8,434.3,1065.1

GPS2 231013,075911,4744.971,-12224.644,6,1.0,7,16.3 MHEAD_RNG_PITCHd_Wd 164.0,891,-11.5,-6.667,-16.81,3244

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH -0.5,1.022419 _24V_AH 24.4,1.635

SM_CCo 4256,0.00,0.000,0,0,1147,273.51 _10V_AH 10.4,1.566

SM_GC 0.74,6.97,0.00,0.00,0.031,0.000,0.000,179,2028,1147,-7.76,0.06,273.51,0,0,0,0,0,0,26.29,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12222.38,231013,060643 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 323088

HUMID 40.90 DATA_FILE_SIZE 30335,453

INTERNAL_PRESSURE 8.96647 CAP_FILE_SIZE 80477,0

TCM_TEMP 14.50 CFSIZE 2097872896,2093350912

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

ALTIM_TOP_PING 19.6,19.9 GPS 231013,091144,4744.763,-12224.722,4,0.8,4,16.3

ALTIM_BOTTOM_PING 150.7,46.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 203 83.29 SBE_CT 301 22 165.35

Roll_motor 85 44 92.92 AA4330 598 11 164.00

VBD_pump_during_apogee 287 618 4348.27 WL_BB2FLVMT 973 105 2494.56

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 245 77 462.41 nil 0 0 0.00

Transponder_ping 4 420 46.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 30 2.41

TT8 1087 15 172.08

LPSleep 1499 2 34.15

TT8_Active 402 15 63.75

TT8_Sampling 1526 43 693.10

TT8_CF8 58 53 32.60

TT8_Kalman 33 69 23.88

Analog_circuits 1283 14 186.86

GPS_charging 0 0 0.00

Compass 1268 8 108.69

RAFOS 0 0 0.00

Transponder 30 30 9.47

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 -0.52 -146.6 183 2029 1373 1099 0.0 0.0 0 82 0.00 0.00 -60.67 0.000 16390 0.000 0.000 184 2029 2860 2870 2851 0 0 0 0 0 0 28.83 28.83 26.48

84 -0.52 -146.6 183 2029 2869 2850 3.6 -7.8 10 99 8.62 2.17 0.00 0.000 2308 0.203 0.037 2516 3427 2861 2879 2844 0 0 0 0 0 0 25.87 26.12 28.83

327 -0.52 -146.6 2516 3427 2892 2833 26.0 -6.0 47 334 0.00 2.12 0.00 0.000 1030 0.000 0.027 2516 2024 2862 2893 2832 0 0 0 0 0 0 28.83 26.31 28.83

454 -0.52 -146.6 2516 2024 2893 2832 33.9 -6.2 60 464 0.00 2.20 0.00 0.000 260 0.000 0.044 2506 3426 2862 2893 2832 0 0 0 0 0 0 28.83 26.29 28.83

499 -0.52 -146.6 2506 3426 2893 2832 36.5 -6.3 64 507 0.00 2.12 0.00 0.000 1030 0.000 0.027 2506 2022 2863 2894 2832 0 0 0 0 0 0 28.83 26.37 28.83

627 -0.52 -146.6 2506 2022 2894 2832 45.6 -7.2 77 636 0.00 2.12 0.00 0.000 516 0.000 0.041 2506 634 2863 2894 2832 0 0 0 0 0 0 28.83 26.34 28.83

710 -0.52 -146.6 2506 634 2895 2832 52.8 -9.0 85 720 0.12 2.10 0.00 0.000 3078 0.138 0.033 2535 2029 2863 2895 2832 0 0 0 0 0 0 26.28 26.40 28.83

840 -0.52 -146.6 2534 2029 2896 2831 62.7 -6.8 98 849 0.00 2.17 0.00 0.000 260 0.000 0.044 2527 3426 2863 2896 2831 0 0 0 0 0 0 28.83 26.39 28.83

933 -0.52 -146.6 2527 3426 2896 2831 70.6 -8.4 107 943 0.00 2.08 0.00 0.000 1030 0.000 0.027 2527 2017 2863 2896 2831 0 0 0 0 0 0 28.83 26.46 28.83

1063 -0.52 -146.6 2527 2017 2896 2831 81.7 -7.7 120 1073 0.00 2.17 0.00 0.000 260 0.000 0.044 2518 3429 2863 2897 2830 0 0 0 0 0 0 28.83 26.44 28.83

1130 -0.52 -146.6 2517 3429 2896 2830 88.4 -11.0 126 1138 0.00 2.12 0.00 0.000 1030 0.000 0.027 2518 2016 2863 2897 2830 0 0 0 0 0 0 28.83 26.50 28.83

1258 -0.52 -146.6 2517 2016 2897 2830 102.3 -10.0 139 1268 0.00 2.17 0.00 0.000 260 0.000 0.044 2507 3426 2863 2897 2830 0 0 0 0 0 0 28.83 26.46 28.83

1332 -0.52 -146.6 2507 3426 2897 2830 108.7 -8.3 146 1342 0.00 2.08 0.00 0.000 1030 0.000 0.027 2508 2019 2863 2897 2830 0 0 0 0 0 0 28.83 26.53 28.83

1462 -0.52 -146.6 2507 2019 2898 2830 117.7 -7.1 159 1472 0.00 2.10 0.00 0.000 516 0.000 0.041 2508 640 2864 2898 2830 0 0 0 0 0 0 28.83 26.48 28.83

1506 -0.52 -146.6 2507 640 2898 2830 120.8 -7.3 163 1516 0.12 2.10 0.00 0.000 3078 0.132 0.033 2537 2035 2864 2898 2830 0 0 0 0 0 0 26.41 26.53 28.83

1636 -0.52 -146.6 2537 2035 2898 2830 127.6 -4.8 176 1646 0.00 2.15 0.00 0.000 260 0.000 0.044 2529 3435 2863 2898 2829 0 0 0 0 0 0 28.83 26.50 28.83

1700 -0.52 -146.6 2529 3435 2898 2828 131.2 -6.1 182 1709 0.00 2.08 0.00 0.000 1030 0.000 0.027 2529 2026 2863 2898 2829 0 0 0 0 0 0 28.83 26.56 28.83

1830 -0.52 -146.6 2529 2026 2899 2829 139.3 -6.4 195 1839 0.00 2.10 0.00 0.000 516 0.000 0.041 2529 643 2864 2899 2829 0 0 0 0 0 0 28.83 26.51 28.83

1875 -0.52 -146.6 2529 642 2899 2829 142.4 -7.2 199 1884 0.00 2.10 0.00 0.000 1030 0.000 0.033 2527 2016 2864 2899 2829 0 0 0 0 0 0 28.83 26.57 28.83

1995 end dive: TARGET_DEPTH_EXCEEDED

state 1995 begin apogee

1998 -0.23 0.0 2527 2016 2899 2829 150.7 -7.4 211 2114 0.28 0.00 107.47 0.619 10246 0.098 0.000 2624 2016 2261 2366 2157 0 0 0 0 0 0 26.48 28.83 24.76

2116 end apogee: CONTROL_FINISHED_OK

state 2116 begin climb

2117 0.52 146.6 2623 2016 2366 2158 154.8 0.0 223 2237 0.65 2.30 112.65 0.603 10756 0.068 0.042 2865 648 1664 1804 1524 0 0 0 0 0 0 25.40 24.99 24.44

2278 0.52 150.1 2865 647 1803 1521 147.4 6.6 239 2287 0.00 2.20 3.75 0.387 9222 0.000 0.031 2865 2022 1649 1790 1508 0 0 0 0 0 0 28.83 25.44 24.80

2406 0.52 150.1 2864 2023 1791 1509 138.4 7.4 252 2416 0.00 2.22 0.00 0.000 260 0.000 0.042 2865 3433 1649 1790 1509 0 0 0 0 0 0 28.83 25.75 28.83

2448 0.52 150.1 2865 3433 1790 1509 134.7 8.6 256 2458 0.00 2.15 0.00 0.000 1030 0.000 0.028 2865 2020 1649 1790 1509 0 0 0 0 0 0 28.83 25.87 28.83

2579 0.52 150.1 2865 2020 1790 1508 125.0 7.4 269 2588 0.00 2.17 0.00 0.000 516 0.000 0.042 2866 628 1648 1790 1506 0 0 0 0 0 0 28.83 25.98 28.83

2613 0.52 150.1 2866 628 1790 1506 122.4 8.1 272 2622 0.00 2.17 0.00 0.000 1030 0.000 0.031 2866 2027 1648 1790 1506 0 0 0 0 0 0 28.83 26.06 28.83

2741 0.52 150.1 2866 2027 1790 1505 111.0 9.3 285 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 2027 1648 1790 1506 0 0 0 0 0 0 28.83 28.83 28.83

2861 0.52 150.1 2866 2027 1790 1505 99.4 9.8 297 2871 0.00 2.15 0.00 0.000 516 0.000 0.041 2866 636 1647 1790 1505 0 0 0 0 0 0 28.83 26.17 28.83

2914 0.52 150.1 2866 636 1790 1504 93.8 10.5 302 2923 0.00 2.10 0.00 0.000 1030 0.000 0.031 2867 2025 1647 1790 1504 0 0 0 0 0 0 28.83 26.25 28.83

3044 0.52 150.1 2866 2024 1790 1504 81.1 8.7 315 3053 0.00 2.17 0.00 0.000 260 0.000 0.042 2867 3435 1647 1790 1504 0 0 0 0 0 0 28.83 26.26 28.83

3118 0.52 150.1 2866 3435 1790 1505 73.5 11.3 322 3127 0.00 2.15 0.00 0.000 1030 0.000 0.027 2867 2026 1647 1790 1504 0 0 0 0 0 0 28.83 26.34 28.83

3247 0.52 150.1 2866 2026 1790 1504 62.6 7.6 335 3256 0.00 2.17 0.00 0.000 260 0.000 0.043 2867 3432 1647 1790 1504 0 0 0 0 0 0 28.83 26.33 28.83

3290 0.52 150.1 2866 3432 1790 1504 59.0 8.3 339 3299 0.00 2.10 0.00 0.000 1030 0.000 0.028 2866 2022 1647 1790 1504 0 0 0 0 0 0 28.83 26.39 28.83

3420 0.52 150.1 2866 2022 1790 1504 49.0 7.2 352 3429 0.00 2.12 0.00 0.000 516 0.000 0.041 2876 636 1647 1790 1504 0 0 0 0 0 0 28.83 26.36 28.83

3473 0.52 166.9 2876 636 1790 1504 45.7 6.1 357 3493 0.00 2.08 13.60 0.514 9222 0.000 0.031 2876 2026 1580 1722 1439 0 0 0 0 0 0 28.83 26.43 25.62

3613 0.52 166.9 2875 2026 1722 1439 35.5 7.1 371 3622 0.00 2.15 0.00 0.000 516 0.000 0.041 2876 634 1580 1722 1439 0 0 0 0 0 0 28.83 26.29 28.83

3655 0.52 168.9 2876 634 1722 1438 32.7 6.6 375 3665 0.00 2.10 0.00 0.000 1030 0.000 0.031 2876 2029 1580 1722 1439 0 0 0 0 0 0 28.83 26.35 28.83

3785 0.52 169.6 2876 2029 1722 1439 23.7 6.6 388 3796 0.00 2.15 1.33 0.121 8708 0.000 0.040 2876 634 1569 1710 1429 0 0 0 0 0 0 28.83 26.34 26.21

3855 0.52 203.9 2876 633 1710 1429 19.4 5.6 395 3882 0.00 2.12 17.50 0.468 9222 0.000 0.031 2876 2019 1430 1573 1287 0 0 0 0 0 0 28.83 26.41 25.60

3945 0.52 232.6 1792 2018 1549 1281 14.3 5.8 411 3966 0.00 2.22 14.12 0.438 8452 0.000 0.041 2876 3439 1312 1462 1162 0 0 0 0 0 0 28.83 26.09 25.56

4008 0.52 232.6 1792 3438 1441 1160 10.1 7.6 422 4016 0.00 2.15 0.00 0.000 1030 0.000 0.028 2876 2029 1310 1461 1160 0 0 0 0 0 0 28.83 26.19 28.83

4078 0.52 271.9 1800 2027 1441 1157 5.8 5.4 435 4106 0.00 2.22 17.52 0.069 8708 0.000 0.041 2877 632 1151 1304 998 0 0 0 0 0 0 28.83 26.17 26.14

4138 0.52 271.9 1808 632 1289 993 2.1 7.1 445 4146 0.00 2.15 0.00 0.000 1030 0.000 0.031 2876 2028 1148 1303 994 0 0 0 0 0 0 28.83 26.25 28.83

4152 end climb: SURFACE_DEPTH_REACHED

state 4152 begin surface coast

4183 end surface coast: CONTROL_FINISHED_OK

state 4184 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	15	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	50	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	42	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	-3055.166	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	231013,075408,4744.953,-12224.646,1,1.4,2,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.001,-0.221
_SM_DEPTHo	0.50	KALMAN_X	10.2,60.2,-16.9,-672.8,-10.1
_SM_ANGLEo	-63.1	KALMAN_Y	1280.3,-543.8,120.8,434.3,1065.1
GPS2	231013,075911,4744.971,-12224.644,6,1.0,7,16.3	MHEAD_RNG_PITCHd_Wd	164.0,891,-11.5,-6.667,-16.81,3244
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	-0.5,1.022419	_24V_AH	24.4,1.635
SM_CCo	4256,0.00,0.000,0,0,1147,273.51	_10V_AH	10.4,1.566
SM_GC	0.74,6.97,0.00,0.00,0.031,0.000,0.000,179,2028,1147,-7.76,0.06,273.51,0,0,0,0,0,0,26.29,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12222.38,231013,060643	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	323088
HUMID	40.90	DATA_FILE_SIZE	30335,453
INTERNAL_PRESSURE	8.96647	CAP_FILE_SIZE	80477,0
TCM_TEMP	14.50	CFSIZE	2097872896,2093350912
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.6,19.9	GPS	231013,091144,4744.763,-12224.722,4,0.8,4,16.3
ALTIM_BOTTOM_PING	150.7,46.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	203	83.29	SBE_CT	301	22	165.35
Roll_motor	85	44	92.92	AA4330	598	11	164.00
VBD_pump_during_apogee	287	618	4348.27	WL_BB2FLVMT	973	105	2494.56
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	245	77	462.41	nil	0	0	0.00
Transponder_ping	4	420	46.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	30	2.41
TT8	1087	15	172.08
LPSleep	1499	2	34.15
TT8_Active	402	15	63.75
TT8_Sampling	1526	43	693.10
TT8_CF8	58	53	32.60
TT8_Kalman	33	69	23.88
Analog_circuits	1283	14	186.86
GPS_charging	0	0	0.00
Compass	1268	8	108.69
RAFOS	0	0	0.00
Transponder	30	30	9.47

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	-0.52	-146.6	183	2029	1373	1099	0.0	0.0	0	82	0.00	0.00	-60.67	0.000	16390	0.000	0.000	184	2029	2860	2870	2851	0	0	0	0	0	0	28.83	28.83	26.48
84	-0.52	-146.6	183	2029	2869	2850	3.6	-7.8	10	99	8.62	2.17	0.00	0.000	2308	0.203	0.037	2516	3427	2861	2879	2844	0	0	0	0	0	0	25.87	26.12	28.83
327	-0.52	-146.6	2516	3427	2892	2833	26.0	-6.0	47	334	0.00	2.12	0.00	0.000	1030	0.000	0.027	2516	2024	2862	2893	2832	0	0	0	0	0	0	28.83	26.31	28.83
454	-0.52	-146.6	2516	2024	2893	2832	33.9	-6.2	60	464	0.00	2.20	0.00	0.000	260	0.000	0.044	2506	3426	2862	2893	2832	0	0	0	0	0	0	28.83	26.29	28.83
499	-0.52	-146.6	2506	3426	2893	2832	36.5	-6.3	64	507	0.00	2.12	0.00	0.000	1030	0.000	0.027	2506	2022	2863	2894	2832	0	0	0	0	0	0	28.83	26.37	28.83
627	-0.52	-146.6	2506	2022	2894	2832	45.6	-7.2	77	636	0.00	2.12	0.00	0.000	516	0.000	0.041	2506	634	2863	2894	2832	0	0	0	0	0	0	28.83	26.34	28.83
710	-0.52	-146.6	2506	634	2895	2832	52.8	-9.0	85	720	0.12	2.10	0.00	0.000	3078	0.138	0.033	2535	2029	2863	2895	2832	0	0	0	0	0	0	26.28	26.40	28.83
840	-0.52	-146.6	2534	2029	2896	2831	62.7	-6.8	98	849	0.00	2.17	0.00	0.000	260	0.000	0.044	2527	3426	2863	2896	2831	0	0	0	0	0	0	28.83	26.39	28.83
933	-0.52	-146.6	2527	3426	2896	2831	70.6	-8.4	107	943	0.00	2.08	0.00	0.000	1030	0.000	0.027	2527	2017	2863	2896	2831	0	0	0	0	0	0	28.83	26.46	28.83
1063	-0.52	-146.6	2527	2017	2896	2831	81.7	-7.7	120	1073	0.00	2.17	0.00	0.000	260	0.000	0.044	2518	3429	2863	2897	2830	0	0	0	0	0	0	28.83	26.44	28.83
1130	-0.52	-146.6	2517	3429	2896	2830	88.4	-11.0	126	1138	0.00	2.12	0.00	0.000	1030	0.000	0.027	2518	2016	2863	2897	2830	0	0	0	0	0	0	28.83	26.50	28.83
1258	-0.52	-146.6	2517	2016	2897	2830	102.3	-10.0	139	1268	0.00	2.17	0.00	0.000	260	0.000	0.044	2507	3426	2863	2897	2830	0	0	0	0	0	0	28.83	26.46	28.83
1332	-0.52	-146.6	2507	3426	2897	2830	108.7	-8.3	146	1342	0.00	2.08	0.00	0.000	1030	0.000	0.027	2508	2019	2863	2897	2830	0	0	0	0	0	0	28.83	26.53	28.83
1462	-0.52	-146.6	2507	2019	2898	2830	117.7	-7.1	159	1472	0.00	2.10	0.00	0.000	516	0.000	0.041	2508	640	2864	2898	2830	0	0	0	0	0	0	28.83	26.48	28.83
1506	-0.52	-146.6	2507	640	2898	2830	120.8	-7.3	163	1516	0.12	2.10	0.00	0.000	3078	0.132	0.033	2537	2035	2864	2898	2830	0	0	0	0	0	0	26.41	26.53	28.83
1636	-0.52	-146.6	2537	2035	2898	2830	127.6	-4.8	176	1646	0.00	2.15	0.00	0.000	260	0.000	0.044	2529	3435	2863	2898	2829	0	0	0	0	0	0	28.83	26.50	28.83
1700	-0.52	-146.6	2529	3435	2898	2828	131.2	-6.1	182	1709	0.00	2.08	0.00	0.000	1030	0.000	0.027	2529	2026	2863	2898	2829	0	0	0	0	0	0	28.83	26.56	28.83
1830	-0.52	-146.6	2529	2026	2899	2829	139.3	-6.4	195	1839	0.00	2.10	0.00	0.000	516	0.000	0.041	2529	643	2864	2899	2829	0	0	0	0	0	0	28.83	26.51	28.83
1875	-0.52	-146.6	2529	642	2899	2829	142.4	-7.2	199	1884	0.00	2.10	0.00	0.000	1030	0.000	0.033	2527	2016	2864	2899	2829	0	0	0	0	0	0	28.83	26.57	28.83
1995	end dive: TARGET_DEPTH_EXCEEDED
state	1995	begin apogee
1998	-0.23	0.0	2527	2016	2899	2829	150.7	-7.4	211	2114	0.28	0.00	107.47	0.619	10246	0.098	0.000	2624	2016	2261	2366	2157	0	0	0	0	0	0	26.48	28.83	24.76
2116	end apogee: CONTROL_FINISHED_OK
state	2116	begin climb
2117	0.52	146.6	2623	2016	2366	2158	154.8	0.0	223	2237	0.65	2.30	112.65	0.603	10756	0.068	0.042	2865	648	1664	1804	1524	0	0	0	0	0	0	25.40	24.99	24.44
2278	0.52	150.1	2865	647	1803	1521	147.4	6.6	239	2287	0.00	2.20	3.75	0.387	9222	0.000	0.031	2865	2022	1649	1790	1508	0	0	0	0	0	0	28.83	25.44	24.80
2406	0.52	150.1	2864	2023	1791	1509	138.4	7.4	252	2416	0.00	2.22	0.00	0.000	260	0.000	0.042	2865	3433	1649	1790	1509	0	0	0	0	0	0	28.83	25.75	28.83
2448	0.52	150.1	2865	3433	1790	1509	134.7	8.6	256	2458	0.00	2.15	0.00	0.000	1030	0.000	0.028	2865	2020	1649	1790	1509	0	0	0	0	0	0	28.83	25.87	28.83
2579	0.52	150.1	2865	2020	1790	1508	125.0	7.4	269	2588	0.00	2.17	0.00	0.000	516	0.000	0.042	2866	628	1648	1790	1506	0	0	0	0	0	0	28.83	25.98	28.83
2613	0.52	150.1	2866	628	1790	1506	122.4	8.1	272	2622	0.00	2.17	0.00	0.000	1030	0.000	0.031	2866	2027	1648	1790	1506	0	0	0	0	0	0	28.83	26.06	28.83
2741	0.52	150.1	2866	2027	1790	1505	111.0	9.3	285	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	2027	1648	1790	1506	0	0	0	0	0	0	28.83	28.83	28.83
2861	0.52	150.1	2866	2027	1790	1505	99.4	9.8	297	2871	0.00	2.15	0.00	0.000	516	0.000	0.041	2866	636	1647	1790	1505	0	0	0	0	0	0	28.83	26.17	28.83
2914	0.52	150.1	2866	636	1790	1504	93.8	10.5	302	2923	0.00	2.10	0.00	0.000	1030	0.000	0.031	2867	2025	1647	1790	1504	0	0	0	0	0	0	28.83	26.25	28.83
3044	0.52	150.1	2866	2024	1790	1504	81.1	8.7	315	3053	0.00	2.17	0.00	0.000	260	0.000	0.042	2867	3435	1647	1790	1504	0	0	0	0	0	0	28.83	26.26	28.83
3118	0.52	150.1	2866	3435	1790	1505	73.5	11.3	322	3127	0.00	2.15	0.00	0.000	1030	0.000	0.027	2867	2026	1647	1790	1504	0	0	0	0	0	0	28.83	26.34	28.83
3247	0.52	150.1	2866	2026	1790	1504	62.6	7.6	335	3256	0.00	2.17	0.00	0.000	260	0.000	0.043	2867	3432	1647	1790	1504	0	0	0	0	0	0	28.83	26.33	28.83
3290	0.52	150.1	2866	3432	1790	1504	59.0	8.3	339	3299	0.00	2.10	0.00	0.000	1030	0.000	0.028	2866	2022	1647	1790	1504	0	0	0	0	0	0	28.83	26.39	28.83
3420	0.52	150.1	2866	2022	1790	1504	49.0	7.2	352	3429	0.00	2.12	0.00	0.000	516	0.000	0.041	2876	636	1647	1790	1504	0	0	0	0	0	0	28.83	26.36	28.83
3473	0.52	166.9	2876	636	1790	1504	45.7	6.1	357	3493	0.00	2.08	13.60	0.514	9222	0.000	0.031	2876	2026	1580	1722	1439	0	0	0	0	0	0	28.83	26.43	25.62
3613	0.52	166.9	2875	2026	1722	1439	35.5	7.1	371	3622	0.00	2.15	0.00	0.000	516	0.000	0.041	2876	634	1580	1722	1439	0	0	0	0	0	0	28.83	26.29	28.83
3655	0.52	168.9	2876	634	1722	1438	32.7	6.6	375	3665	0.00	2.10	0.00	0.000	1030	0.000	0.031	2876	2029	1580	1722	1439	0	0	0	0	0	0	28.83	26.35	28.83
3785	0.52	169.6	2876	2029	1722	1439	23.7	6.6	388	3796	0.00	2.15	1.33	0.121	8708	0.000	0.040	2876	634	1569	1710	1429	0	0	0	0	0	0	28.83	26.34	26.21
3855	0.52	203.9	2876	633	1710	1429	19.4	5.6	395	3882	0.00	2.12	17.50	0.468	9222	0.000	0.031	2876	2019	1430	1573	1287	0	0	0	0	0	0	28.83	26.41	25.60
3945	0.52	232.6	1792	2018	1549	1281	14.3	5.8	411	3966	0.00	2.22	14.12	0.438	8452	0.000	0.041	2876	3439	1312	1462	1162	0	0	0	0	0	0	28.83	26.09	25.56
4008	0.52	232.6	1792	3438	1441	1160	10.1	7.6	422	4016	0.00	2.15	0.00	0.000	1030	0.000	0.028	2876	2029	1310	1461	1160	0	0	0	0	0	0	28.83	26.19	28.83
4078	0.52	271.9	1800	2027	1441	1157	5.8	5.4	435	4106	0.00	2.22	17.52	0.069	8708	0.000	0.041	2877	632	1151	1304	998	0	0	0	0	0	0	28.83	26.17	26.14
4138	0.52	271.9	1808	632	1289	993	2.1	7.1	445	4146	0.00	2.15	0.00	0.000	1030	0.000	0.031	2876	2028	1148	1303	994	0	0	0	0	0	0	28.83	26.25	28.83
4152	end climb: SURFACE_DEPTH_REACHED
state	4152	begin surface coast
4183	end surface coast: CONTROL_FINISHED_OK
state	4184	begin surface