Glider dive log

Shilshole 18Dec13 * SG130 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_C 1.6100001e-05 ROLL_MAX 3700 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 19 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 16 ESCAPE_HEADING 0 C_ROLL_DIVE 1800 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 44.380001 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -125.01 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 5

D_NO_BLEED 500 SM_CC 220 R_STBD_OVSHOOT -10 XPDR_VALID 2

D_BOOST 4 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

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 0.89999998

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 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2050 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 131

T_DIVE 75 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 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 -118570.02 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 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 92 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 650 MINV_24V 19 SIM_W 0

MAX_BUOY 90 PITCH_MAX 3725 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2993 FG_AHR_10V 0 SEABIRD_T_G 0.004404821

GLIDE_SLOPE 35 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064488029

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY 2 SEABIRD_T_I 2.8507879e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -9.3370571 SEABIRD_T_J 3.3644449e-06

MASS 51967 PITCH_GAIN 14 PRESSURE_SLOPE 0.0001159091 SEABIRD_C_G -9.8029137

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1050078

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015785076

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020331096

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0028580001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0089408001 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 220

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 92 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.0046000001 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 14 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3725 TCM_ROLL_OFFSET 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 650 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -125.01

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 35 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 0.0028580001 PRESSURE_SLOPE 0.0001159091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0089408001 PRESSURE_YINT -9.3370571 T_GPS 15

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -118570.02

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 130 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 500

COMPASS_USE 0 INT_PRESSURE_YINT 0.89999998 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2993 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1800 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2050 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3700 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51967 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 240 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE3 131 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MIN 500

DEVICE4 -1 MISSION 19 SEABIRD_C_G -9.8029137 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1050078 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0015785076 VBD_TIMEOUT 720

DIVE 16 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020331096 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004404821 XPDR_DEVICE 24

D_BOOST 4 N_FILEKB 4 SEABIRD_T_H 0.00064488029 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.8507879e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3644449e-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 191213,083936,4742.787,-12224.783,31,1.7,31,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191213,084806,4742.733,-12224.824,13,1.8,13,18.2 MHEAD_RNG_PITCHd_Wd 342.6,2162,-18.1,-8.000,-21.82,1655

SPEED_LIMITS 0.114,0.200 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.012477 _10V_AH 10.4,0.906

SM_CCo 3921,64.43,0.054,0,0,1154,220.03 FG_AHR_24Vo 0.000

SM_GC 1.24,11.62,0.12,64.43,0.034,0.082,0.054,647,1818,1154,-10.73,-0.48,220.03,0,0,0,0,0,0,24.72,24.76,24.60 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12234.67,191213,070751 MEM 353944

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 33441,734

HUMID 33.06 CAP_FILE_SIZE 82888,0

INTERNAL_PRESSURE 8.96672 CFSIZE 260165632,257892352

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 191213,095543,4742.903,-12225.005,10,1.5,10,18.2

_24V_AH 23.8,1.056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 103.73 SBE_CT 522 24 307.25

Roll_motor 60 136 196.11 SBE_O2 344 5 49.05

VBD_pump_during_apogee 152 485 1768.61 WL_BBFL2 565 68 927.16

VBD_pump_during_surface 64 53 82.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 57 33.43 nil 0 0 0.00

Iridium_during_connect 51 160 194.65 nil 0 0 0.00

Iridium_during_xfer 312 223 1656.02 nil 0 0 0.00

Transponder_ping 4 420 44.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 4.92

TT8 1658 11 193.47

LPSleep 835 2 19.04

TT8_Active 360 11 42.01

TT8_Sampling 1476 36 563.05

TT8_CF8 172 42 76.66

TT8_Kalman 0 0 0.00

Analog_circuits 946 15 147.68

GPS_charging 0 0 0.00

Compass 1056 15 172.87

RAFOS 0 0 0.00

Transponder 30 30 9.52

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

16 -1.40 -88.0 648 1781 1204 1084 0.0 0.0 0 46 0.00 0.00 -27.70 0.000 16386 0.000 0.000 648 1782 2008 2049 1968 0 0 0 0 0 0 28.83 28.83 28.83

49 -1.40 -88.0 648 1781 2048 1969 2.5 -5.5 5 79 11.75 2.55 -11.12 0.000 18948 0.165 0.077 2677 382 2407 2463 2352 0 0 0 0 0 0 24.36 24.46 24.81

122 -1.40 -88.0 2677 382 2463 2352 7.5 -9.4 18 129 0.00 2.47 0.00 0.000 1030 0.000 0.040 2677 1839 2407 2463 2352 0 0 0 0 0 0 28.83 24.58 28.83

192 -1.40 -88.0 2677 1840 2463 2352 14.6 -9.3 31 198 0.00 2.40 0.00 0.000 260 0.000 0.050 2677 3229 2407 2463 2352 0 0 0 0 0 0 28.83 24.56 28.83

296 -1.40 -88.0 2677 3229 2463 2352 24.9 -9.2 51 302 0.00 2.53 0.00 0.000 1030 0.000 0.048 2676 1783 2407 2463 2352 0 0 0 0 0 0 28.83 24.59 28.83

365 -1.40 -88.0 2677 1783 2463 2352 31.8 -9.8 64 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1783 2408 2464 2352 0 0 0 0 0 0 28.83 28.83 28.83

433 -1.40 -88.0 2677 1783 2463 2352 38.6 -10.2 77 439 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1783 2407 2463 2352 0 0 0 0 0 0 28.83 28.83 28.83

503 -1.40 -88.0 2677 1783 2463 2352 45.9 -10.6 90 509 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1783 2407 2463 2352 0 0 0 0 0 0 28.83 28.83 28.83

572 -1.40 -88.0 2677 1783 2463 2352 53.1 -10.2 103 578 0.00 2.53 0.00 0.000 516 0.000 0.068 2677 381 2407 2463 2352 0 0 0 0 0 0 28.83 24.58 28.83

666 -1.40 -88.0 2677 381 2464 2352 64.1 -11.2 121 672 0.00 2.45 0.00 0.000 1030 0.000 0.039 2677 1833 2407 2463 2352 0 0 0 0 0 0 28.83 24.68 28.83

795 -1.40 -88.0 2677 1833 2464 2352 77.1 -9.8 146 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1833 2407 2463 2352 0 0 0 0 0 0 28.83 28.83 28.83

924 -1.40 -88.0 2677 1833 2463 2352 90.2 -10.7 171 930 0.00 2.40 0.00 0.000 260 0.000 0.048 2677 3233 2407 2463 2352 0 0 0 0 0 0 28.83 24.66 28.83

978 -1.40 -88.0 2677 3233 2464 2352 96.1 -11.1 181 984 0.00 2.50 0.00 0.000 1030 0.000 0.047 2677 1789 2408 2464 2352 0 0 0 0 0 0 28.83 24.66 28.83

1111 -1.40 -88.0 1600 1788 2389 2340 110.2 -11.4 206 1117 0.00 2.53 0.00 0.000 516 0.000 0.069 2677 383 2408 2464 2352 0 0 0 0 0 0 28.83 24.62 28.83

1267 -1.40 -88.0 2677 384 2464 2352 131.1 -12.9 236 1274 0.00 2.42 0.00 0.000 1030 0.000 0.039 2673 1829 2408 2464 2352 0 0 0 0 0 0 28.83 24.72 28.83

1399 -1.40 -88.0 2677 1830 2463 2352 145.2 -10.1 261 1406 0.00 2.40 0.00 0.000 260 0.000 0.048 2677 3226 2407 2463 2352 0 0 0 0 0 0 28.83 24.69 28.83

1507 -1.40 -88.0 2677 3226 2463 2352 155.8 -9.4 281 1513 0.00 2.50 0.00 0.000 1030 0.000 0.048 2677 1786 2407 2463 2352 0 0 0 0 0 0 28.83 24.70 28.83

1638 -1.40 -88.0 2677 1785 2463 2352 169.4 -10.7 306 1645 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1786 2408 2464 2352 0 0 0 0 0 0 28.83 28.83 28.83

1747 end dive: TARGET_DEPTH_EXCEEDED

state 1747 begin apogee

1754 -0.36 0.0 2677 1737 2463 2352 180.4 -9.6 327 1825 1.20 0.00 67.05 0.486 10246 0.115 0.000 2910 1737 2049 2127 1972 0 0 0 0 0 0 24.65 28.83 23.85

1826 end apogee: CONTROL_FINISHED_OK

state 1826 begin climb

1829 1.40 88.0 2910 1737 2127 1971 183.5 0.0 340 1905 1.80 0.00 67.90 0.477 10502 0.077 0.000 3295 1737 1689 1772 1607 0 0 0 0 0 0 24.29 28.83 23.83

2029 1.40 88.0 3294 1737 1772 1603 168.8 9.3 378 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 1737 1687 1772 1603 0 0 0 0 0 0 28.83 28.83 28.83

2158 1.41 98.1 3295 1737 1772 1602 157.9 7.4 403 2170 0.00 0.00 8.80 0.399 8198 0.000 0.000 3295 1737 1650 1736 1564 0 0 0 0 0 0 28.83 28.83 24.06

2296 1.41 99.4 3295 1737 1735 1563 147.1 7.9 429 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 1737 1649 1735 1563 0 0 0 0 0 0 28.83 28.83 28.83

2424 1.41 99.4 3295 1737 1735 1562 136.4 8.1 454 2431 0.00 2.50 0.00 0.000 260 0.000 0.047 3295 3179 1648 1735 1562 0 0 0 0 0 0 28.83 24.58 28.83

2484 1.41 99.4 3295 3179 1735 1561 131.5 8.3 465 2490 0.00 2.53 0.00 0.000 1030 0.000 0.050 3295 1741 1648 1735 1561 0 0 0 0 0 0 28.83 24.58 28.83

2615 1.42 108.2 3295 1741 1735 1561 121.4 7.5 490 2633 0.00 2.62 9.23 0.389 8708 0.000 0.070 3295 341 1607 1696 1519 0 0 0 0 0 0 28.83 24.43 24.12

2752 1.42 108.2 3294 341 1697 1519 107.1 10.4 516 2758 0.00 2.45 0.00 0.000 1030 0.000 0.039 3295 1779 1608 1697 1520 0 0 0 0 0 0 28.83 24.63 28.83

2883 1.42 108.2 3294 1779 1697 1519 95.6 8.5 541 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 1779 1608 1697 1519 0 0 0 0 0 0 28.83 28.83 28.83

3012 1.42 108.2 3295 1779 1697 1519 83.9 9.1 566 3017 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 1779 1608 1697 1519 0 0 0 0 0 0 28.83 28.83 28.83

3140 1.42 108.2 3294 1779 1697 1519 71.6 9.8 591 3147 0.00 2.62 0.00 0.000 516 0.000 0.070 3295 333 1608 1697 1519 0 0 0 0 0 0 28.83 24.58 28.83

3179 1.42 108.2 3295 333 1697 1519 67.1 11.8 598 3186 0.00 2.45 0.00 0.000 1030 0.000 0.038 3294 1783 1608 1697 1519 0 0 0 0 0 0 28.83 24.68 28.83

3311 1.42 108.2 3295 1783 1697 1519 53.8 9.8 623 3316 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 1783 1608 1698 1519 0 0 0 0 0 0 28.83 28.83 28.83

3439 1.42 108.2 3294 1783 1697 1519 41.0 10.2 648 3446 0.00 2.65 0.00 0.000 516 0.000 0.070 3295 330 1608 1697 1519 0 0 0 0 0 0 28.83 24.60 28.83

3509 1.42 108.2 3295 330 1697 1519 33.3 11.0 661 3515 0.00 2.45 0.00 0.000 1030 0.000 0.038 3295 1783 1608 1697 1519 0 0 0 0 0 0 28.83 24.70 28.83

3578 1.42 108.2 3294 1783 1697 1519 26.5 9.0 674 3584 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 1783 1607 1697 1518 0 0 0 0 0 0 28.83 28.83 28.83

3647 1.42 108.2 3295 1783 1697 1518 20.7 8.6 687 3654 0.00 2.62 0.00 0.000 516 0.000 0.070 3295 337 1607 1697 1518 0 0 0 0 0 0 28.83 24.62 28.83

3696 1.42 108.2 3295 337 1697 1519 16.1 10.1 696 3703 0.00 2.42 0.00 0.000 1030 0.000 0.039 3295 1778 1607 1697 1518 0 0 0 0 0 0 28.83 24.72 28.83

3767 1.42 108.2 3295 1779 1697 1518 9.7 9.2 709 3774 0.00 2.40 0.00 0.000 260 0.000 0.049 3295 3177 1607 1697 1517 0 0 0 0 0 0 28.83 24.68 28.83

3821 1.42 108.2 2304 3175 1652 1512 4.9 8.3 719 3827 0.00 2.50 0.00 0.000 1030 0.000 0.051 3295 1743 1607 1697 1517 0 0 0 0 0 0 28.83 24.69 28.83

3853 end climb: SURFACE_DEPTH_REACHED

state 3853 begin surface coast

3899 end surface coast: CONTROL_FINISHED_OK

state 3899 begin surface

ID	130	HD_C	1.6100001e-05	ROLL_MAX	3700	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	19	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	16	ESCAPE_HEADING	0	C_ROLL_DIVE	1800	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	44.380001	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-125.01	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	5
D_NO_BLEED	500	SM_CC	220	R_STBD_OVSHOOT	-10	XPDR_VALID	2
D_BOOST	4	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
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	0.89999998
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	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2050	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	131
T_DIVE	75	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	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	-118570.02	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	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	92	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	650	MINV_24V	19	SIM_W	0
MAX_BUOY	90	PITCH_MAX	3725	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2993	FG_AHR_10V	0	SEABIRD_T_G	0.004404821
GLIDE_SLOPE	35	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064488029
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	2	SEABIRD_T_I	2.8507879e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-9.3370571	SEABIRD_T_J	3.3644449e-06
MASS	51967	PITCH_GAIN	14	PRESSURE_SLOPE	0.0001159091	SEABIRD_C_G	-9.8029137
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1050078
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015785076
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020331096
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0028580001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0089408001	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	191213,083936,4742.787,-12224.783,31,1.7,31,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191213,084806,4742.733,-12224.824,13,1.8,13,18.2	MHEAD_RNG_PITCHd_Wd	342.6,2162,-18.1,-8.000,-21.82,1655
SPEED_LIMITS	0.114,0.200	D_GRID	180

FINISH	0.5,1.012477	_10V_AH	10.4,0.906
SM_CCo	3921,64.43,0.054,0,0,1154,220.03	FG_AHR_24Vo	0.000
SM_GC	1.24,11.62,0.12,64.43,0.034,0.082,0.054,647,1818,1154,-10.73,-0.48,220.03,0,0,0,0,0,0,24.72,24.76,24.60	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12234.67,191213,070751	MEM	353944
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	33441,734
HUMID	33.06	CAP_FILE_SIZE	82888,0
INTERNAL_PRESSURE	8.96672	CFSIZE	260165632,257892352
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	191213,095543,4742.903,-12225.005,10,1.5,10,18.2
_24V_AH	23.8,1.056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	103.73	SBE_CT	522	24	307.25
Roll_motor	60	136	196.11	SBE_O2	344	5	49.05
VBD_pump_during_apogee	152	485	1768.61	WL_BBFL2	565	68	927.16
VBD_pump_during_surface	64	53	82.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	57	33.43	nil	0	0	0.00
Iridium_during_connect	51	160	194.65	nil	0	0	0.00
Iridium_during_xfer	312	223	1656.02	nil	0	0	0.00
Transponder_ping	4	420	44.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	4.92
TT8	1658	11	193.47
LPSleep	835	2	19.04
TT8_Active	360	11	42.01
TT8_Sampling	1476	36	563.05
TT8_CF8	172	42	76.66
TT8_Kalman	0	0	0.00
Analog_circuits	946	15	147.68
GPS_charging	0	0	0.00
Compass	1056	15	172.87
RAFOS	0	0	0.00
Transponder	30	30	9.52

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
16	-1.40	-88.0	648	1781	1204	1084	0.0	0.0	0	46	0.00	0.00	-27.70	0.000	16386	0.000	0.000	648	1782	2008	2049	1968	0	0	0	0	0	0	28.83	28.83	28.83
49	-1.40	-88.0	648	1781	2048	1969	2.5	-5.5	5	79	11.75	2.55	-11.12	0.000	18948	0.165	0.077	2677	382	2407	2463	2352	0	0	0	0	0	0	24.36	24.46	24.81
122	-1.40	-88.0	2677	382	2463	2352	7.5	-9.4	18	129	0.00	2.47	0.00	0.000	1030	0.000	0.040	2677	1839	2407	2463	2352	0	0	0	0	0	0	28.83	24.58	28.83
192	-1.40	-88.0	2677	1840	2463	2352	14.6	-9.3	31	198	0.00	2.40	0.00	0.000	260	0.000	0.050	2677	3229	2407	2463	2352	0	0	0	0	0	0	28.83	24.56	28.83
296	-1.40	-88.0	2677	3229	2463	2352	24.9	-9.2	51	302	0.00	2.53	0.00	0.000	1030	0.000	0.048	2676	1783	2407	2463	2352	0	0	0	0	0	0	28.83	24.59	28.83
365	-1.40	-88.0	2677	1783	2463	2352	31.8	-9.8	64	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1783	2408	2464	2352	0	0	0	0	0	0	28.83	28.83	28.83
433	-1.40	-88.0	2677	1783	2463	2352	38.6	-10.2	77	439	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1783	2407	2463	2352	0	0	0	0	0	0	28.83	28.83	28.83
503	-1.40	-88.0	2677	1783	2463	2352	45.9	-10.6	90	509	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1783	2407	2463	2352	0	0	0	0	0	0	28.83	28.83	28.83
572	-1.40	-88.0	2677	1783	2463	2352	53.1	-10.2	103	578	0.00	2.53	0.00	0.000	516	0.000	0.068	2677	381	2407	2463	2352	0	0	0	0	0	0	28.83	24.58	28.83
666	-1.40	-88.0	2677	381	2464	2352	64.1	-11.2	121	672	0.00	2.45	0.00	0.000	1030	0.000	0.039	2677	1833	2407	2463	2352	0	0	0	0	0	0	28.83	24.68	28.83
795	-1.40	-88.0	2677	1833	2464	2352	77.1	-9.8	146	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1833	2407	2463	2352	0	0	0	0	0	0	28.83	28.83	28.83
924	-1.40	-88.0	2677	1833	2463	2352	90.2	-10.7	171	930	0.00	2.40	0.00	0.000	260	0.000	0.048	2677	3233	2407	2463	2352	0	0	0	0	0	0	28.83	24.66	28.83
978	-1.40	-88.0	2677	3233	2464	2352	96.1	-11.1	181	984	0.00	2.50	0.00	0.000	1030	0.000	0.047	2677	1789	2408	2464	2352	0	0	0	0	0	0	28.83	24.66	28.83
1111	-1.40	-88.0	1600	1788	2389	2340	110.2	-11.4	206	1117	0.00	2.53	0.00	0.000	516	0.000	0.069	2677	383	2408	2464	2352	0	0	0	0	0	0	28.83	24.62	28.83
1267	-1.40	-88.0	2677	384	2464	2352	131.1	-12.9	236	1274	0.00	2.42	0.00	0.000	1030	0.000	0.039	2673	1829	2408	2464	2352	0	0	0	0	0	0	28.83	24.72	28.83
1399	-1.40	-88.0	2677	1830	2463	2352	145.2	-10.1	261	1406	0.00	2.40	0.00	0.000	260	0.000	0.048	2677	3226	2407	2463	2352	0	0	0	0	0	0	28.83	24.69	28.83
1507	-1.40	-88.0	2677	3226	2463	2352	155.8	-9.4	281	1513	0.00	2.50	0.00	0.000	1030	0.000	0.048	2677	1786	2407	2463	2352	0	0	0	0	0	0	28.83	24.70	28.83
1638	-1.40	-88.0	2677	1785	2463	2352	169.4	-10.7	306	1645	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1786	2408	2464	2352	0	0	0	0	0	0	28.83	28.83	28.83
1747	end dive: TARGET_DEPTH_EXCEEDED
state	1747	begin apogee
1754	-0.36	0.0	2677	1737	2463	2352	180.4	-9.6	327	1825	1.20	0.00	67.05	0.486	10246	0.115	0.000	2910	1737	2049	2127	1972	0	0	0	0	0	0	24.65	28.83	23.85
1826	end apogee: CONTROL_FINISHED_OK
state	1826	begin climb
1829	1.40	88.0	2910	1737	2127	1971	183.5	0.0	340	1905	1.80	0.00	67.90	0.477	10502	0.077	0.000	3295	1737	1689	1772	1607	0	0	0	0	0	0	24.29	28.83	23.83
2029	1.40	88.0	3294	1737	1772	1603	168.8	9.3	378	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	1737	1687	1772	1603	0	0	0	0	0	0	28.83	28.83	28.83
2158	1.41	98.1	3295	1737	1772	1602	157.9	7.4	403	2170	0.00	0.00	8.80	0.399	8198	0.000	0.000	3295	1737	1650	1736	1564	0	0	0	0	0	0	28.83	28.83	24.06
2296	1.41	99.4	3295	1737	1735	1563	147.1	7.9	429	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	1737	1649	1735	1563	0	0	0	0	0	0	28.83	28.83	28.83
2424	1.41	99.4	3295	1737	1735	1562	136.4	8.1	454	2431	0.00	2.50	0.00	0.000	260	0.000	0.047	3295	3179	1648	1735	1562	0	0	0	0	0	0	28.83	24.58	28.83
2484	1.41	99.4	3295	3179	1735	1561	131.5	8.3	465	2490	0.00	2.53	0.00	0.000	1030	0.000	0.050	3295	1741	1648	1735	1561	0	0	0	0	0	0	28.83	24.58	28.83
2615	1.42	108.2	3295	1741	1735	1561	121.4	7.5	490	2633	0.00	2.62	9.23	0.389	8708	0.000	0.070	3295	341	1607	1696	1519	0	0	0	0	0	0	28.83	24.43	24.12
2752	1.42	108.2	3294	341	1697	1519	107.1	10.4	516	2758	0.00	2.45	0.00	0.000	1030	0.000	0.039	3295	1779	1608	1697	1520	0	0	0	0	0	0	28.83	24.63	28.83
2883	1.42	108.2	3294	1779	1697	1519	95.6	8.5	541	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	1779	1608	1697	1519	0	0	0	0	0	0	28.83	28.83	28.83
3012	1.42	108.2	3295	1779	1697	1519	83.9	9.1	566	3017	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	1779	1608	1697	1519	0	0	0	0	0	0	28.83	28.83	28.83
3140	1.42	108.2	3294	1779	1697	1519	71.6	9.8	591	3147	0.00	2.62	0.00	0.000	516	0.000	0.070	3295	333	1608	1697	1519	0	0	0	0	0	0	28.83	24.58	28.83
3179	1.42	108.2	3295	333	1697	1519	67.1	11.8	598	3186	0.00	2.45	0.00	0.000	1030	0.000	0.038	3294	1783	1608	1697	1519	0	0	0	0	0	0	28.83	24.68	28.83
3311	1.42	108.2	3295	1783	1697	1519	53.8	9.8	623	3316	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	1783	1608	1698	1519	0	0	0	0	0	0	28.83	28.83	28.83
3439	1.42	108.2	3294	1783	1697	1519	41.0	10.2	648	3446	0.00	2.65	0.00	0.000	516	0.000	0.070	3295	330	1608	1697	1519	0	0	0	0	0	0	28.83	24.60	28.83
3509	1.42	108.2	3295	330	1697	1519	33.3	11.0	661	3515	0.00	2.45	0.00	0.000	1030	0.000	0.038	3295	1783	1608	1697	1519	0	0	0	0	0	0	28.83	24.70	28.83
3578	1.42	108.2	3294	1783	1697	1519	26.5	9.0	674	3584	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	1783	1607	1697	1518	0	0	0	0	0	0	28.83	28.83	28.83
3647	1.42	108.2	3295	1783	1697	1518	20.7	8.6	687	3654	0.00	2.62	0.00	0.000	516	0.000	0.070	3295	337	1607	1697	1518	0	0	0	0	0	0	28.83	24.62	28.83
3696	1.42	108.2	3295	337	1697	1519	16.1	10.1	696	3703	0.00	2.42	0.00	0.000	1030	0.000	0.039	3295	1778	1607	1697	1518	0	0	0	0	0	0	28.83	24.72	28.83
3767	1.42	108.2	3295	1779	1697	1518	9.7	9.2	709	3774	0.00	2.40	0.00	0.000	260	0.000	0.049	3295	3177	1607	1697	1517	0	0	0	0	0	0	28.83	24.68	28.83
3821	1.42	108.2	2304	3175	1652	1512	4.9	8.3	719	3827	0.00	2.50	0.00	0.000	1030	0.000	0.051	3295	1743	1607	1697	1517	0	0	0	0	0	0	28.83	24.69	28.83
3853	end climb: SURFACE_DEPTH_REACHED
state	3853	begin surface coast
3899	end surface coast: CONTROL_FINISHED_OK
state	3899	begin surface