Glider dive log

Shilshole 09Oct13 * SG144 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 20 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 90

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 480 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3950 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2930 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 53

T_DIVE 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 20

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -56591.168 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 50 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 120 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3930 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3350 FG_AHR_10V 0 SEABIRD_T_G 0.0043491465

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063627562

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5639563e-05

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

MASS 59412 PITCH_GAIN 24.4 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -9.7093372

MASS_COMP 4370 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1118598

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010979992

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00015928292

KALMAN_USE 0 PITCH_ADJ_GAIN 0 COMPASS_USE 0

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 200 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 300

AH0_10V 50 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24.4 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3930 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 120 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 80

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.408302 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -56591.168

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 144 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 0 INT_PRESSURE_YINT 2.2 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 0 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3350 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2930 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59412 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4370 ROLL_MIN 200 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3950

DEVICE2 35 MINV_10V 12 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 53 MINV_24V 12 R_STBD_OVSHOOT -20 VBD_MIN 480

DEVICE4 20 MISSION 20 SEABIRD_C_G -9.7093372 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1118598 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0010979992 VBD_TIMEOUT 720

DIVE 17 NOCOMM_ACTION 163 SEABIRD_C_J 0.00015928292 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043491465 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00063627562 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.5639563e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.8485167e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 101013,095853,4745.076,-12225.379,4,0.9,4,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.035,-0.231

_SM_DEPTHo 0.99 KALMAN_X -828.8,133.2,-66.2,-1618.9,-443.2

_SM_ANGLEo -74.0 KALMAN_Y 3729.1,505.6,329.2,-1846.4,1393.0

GPS2 101013,100339,4745.098,-12225.368,5,1.4,5,16.3 MHEAD_RNG_PITCHd_Wd 155.1,1548,-13.1,-7.500,-17.78,2936

SPEED_LIMITS 0.063,0.234 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.1,1.009283 _24V_AH 13.3,3.410

SM_CCo 4188,72.32,1.181,0,0,1707,300.00 _10V_AH 13.2,0.992

SM_GC 0.99,10.15,0.12,72.32,0.087,0.116,1.181,117,2274,1707,-10.05,0.71,300.00,0,0,0,0,0,0,14.64,14.69,13.74 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12226.80,101013,080800 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 345708

HUMID 59.56 DATA_FILE_SIZE 23641,443

INTERNAL_PRESSURE 8.68462 CAP_FILE_SIZE 76051,0

TCM_TEMP 20.20 CFSIZE 260165632,218476544

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

ALTIM_TOP_PING 19.5,19.4 GPS 101013,111609,4744.571,-12225.446,4,1.0,4,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 430 151.94 SBE_CT 305 24 97.56

Roll_motor 66 147 130.83 WL_BB2FLVMG 539 105 754.08

VBD_pump_during_apogee 291 1363 5283.81 AA3830 450 33 197.75

VBD_pump_during_surface 72 1181 1136.18 SBE_O2 325 19 82.19

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 39.28 nil 0 0 0.00

Iridium_during_connect 45 160 97.66 nil 0 0 0.00

Iridium_during_xfer 142 223 422.77 nil 0 0 0.00

Transponder_ping 5 420 27.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 4.47

TT8 1095 19 286.37

LPSleep 1939 2 56.07

TT8_Active 434 19 113.62

TT8_Sampling 1035 39 544.04

TT8_CF8 52 45 31.49

TT8_Kalman 33 81 35.86

Analog_circuits 934 12 147.99

GPS_charging 0 0 0.00

Compass 790 15 156.57

RAFOS 0 0 0.00

Transponder 32 30 12.81

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 -0.72 -146.6 117 2278 1773 1625 0.0 0.0 0 63 0.00 0.00 -45.80 0.000 16386 0.000 0.000 117 2279 3099 3065 3134 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.72 -146.6 117 2279 3067 3134 2.4 -6.1 8 97 14.68 2.45 -9.20 0.000 18692 0.431 0.086 3109 3721 3531 3462 3601 0 0 0 0 0 0 14.39 14.59 14.78

189 -0.72 -146.6 3109 3720 3468 3601 17.3 -10.5 31 195 0.00 2.35 0.00 0.000 1030 0.000 0.040 3109 2277 3534 3468 3601 0 0 0 0 0 0 28.83 14.66 28.83

257 -0.72 -146.6 3109 2277 3468 3601 24.3 -9.8 40 258 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2278 3534 3468 3601 0 0 0 0 0 0 28.83 28.83 28.83

377 -0.72 -146.6 3109 2277 3469 3601 35.9 -9.2 52 381 0.00 2.33 0.00 0.000 516 0.000 0.063 3109 873 3535 3469 3601 0 0 0 0 0 0 28.83 14.71 28.83

423 -0.72 -146.6 3109 873 3469 3601 40.4 -9.7 56 427 0.00 2.38 0.00 0.000 1030 0.000 0.049 3109 2318 3534 3468 3601 0 0 0 0 0 0 28.83 14.73 28.83

548 -0.72 -146.6 3109 2318 3469 3601 52.4 -9.0 68 549 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2318 3535 3469 3601 0 0 0 0 0 0 28.83 28.83 28.83

668 -0.72 -146.6 3109 2318 3469 3601 63.7 -9.6 80 672 0.00 2.33 0.00 0.000 260 0.000 0.065 3109 3722 3535 3469 3601 0 0 0 0 0 0 28.83 14.76 28.83

723 -0.72 -146.6 3109 3722 3469 3601 69.1 -9.6 85 728 0.00 2.33 0.00 0.000 1030 0.000 0.040 3108 2276 3535 3470 3601 0 0 0 0 0 0 28.83 14.81 28.83

849 -0.72 -146.6 3109 2276 3469 3601 81.1 -9.7 97 850 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2276 3535 3469 3601 0 0 0 0 0 0 28.83 28.83 28.83

969 -0.72 -146.6 3109 2276 3470 3601 92.2 -9.9 109 970 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2276 3535 3469 3601 0 0 0 0 0 0 28.83 28.83 28.83

1089 -0.72 -146.6 3109 2276 3469 3601 101.8 -7.4 121 1098 0.00 2.40 0.00 0.000 260 0.000 0.064 3109 3721 3535 3469 3601 0 0 0 0 0 0 28.83 14.81 28.83

1170 -0.72 -146.6 3109 3721 3470 3601 107.9 -7.3 129 1174 0.00 2.33 0.00 0.000 1030 0.000 0.041 3108 2268 3535 3469 3601 0 0 0 0 0 0 28.83 14.85 28.83

1296 -0.72 -146.6 3109 2268 3470 3601 117.3 -8.2 141 1305 0.00 2.40 0.00 0.000 260 0.000 0.067 3109 3712 3535 3470 3601 0 0 0 0 0 0 28.83 14.76 28.83

1340 -0.72 -146.6 3109 3712 3470 3601 121.0 -8.8 145 1347 0.00 2.35 0.00 0.000 1030 0.000 0.041 3109 2281 3535 3470 3601 0 0 0 0 0 0 28.83 14.83 28.83

1467 -0.72 -146.6 3109 2279 3470 3601 132.6 -9.1 158 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2279 3535 3469 3601 0 0 0 0 0 0 28.83 28.83 28.83

1587 -0.72 -146.6 3109 2279 3470 3601 143.1 -8.5 170 1591 0.00 2.30 0.00 0.000 516 0.000 0.063 3109 876 3535 3470 3601 0 0 0 0 0 0 28.83 14.83 28.83

1642 -0.72 -146.6 3109 875 3470 3601 148.1 -9.9 175 1647 0.00 2.35 0.00 0.000 1030 0.000 0.047 3109 2317 3535 3469 3601 0 0 0 0 0 0 28.83 14.85 28.83

1767 -0.72 -146.6 3109 2317 3470 3601 159.5 -7.8 187 1772 0.00 2.33 0.00 0.000 260 0.000 0.065 3109 3726 3535 3470 3601 0 0 0 0 0 0 28.83 14.83 28.83

1825 -0.72 -146.6 3109 3726 3470 3601 165.9 -11.1 192 1834 0.00 2.33 0.00 0.000 1030 0.000 0.041 3109 2275 3535 3470 3601 0 0 0 0 0 0 28.83 14.87 28.83

1955 -0.72 -146.6 3109 2274 3470 3601 178.7 -11.5 205 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2274 3535 3470 3601 0 0 0 0 0 0 28.83 28.83 28.83

1974 end dive: TARGET_DEPTH_EXCEEDED

state 1974 begin apogee

1978 -0.20 0.0 3109 2436 3470 3601 180.9 -11.4 207 2106 0.57 0.08 117.90 1.363 10246 0.237 0.148 3273 2363 2929 2905 2953 0 0 0 0 0 0 14.68 14.19 13.33

2107 end apogee: CONTROL_FINISHED_OK

state 2107 begin climb

2108 0.72 146.6 3273 2362 2903 2953 186.6 0.0 220 2230 1.02 0.00 116.45 1.333 10758 0.194 0.000 3571 2362 2332 2337 2327 0 0 0 0 0 0 14.14 28.83 13.40

2346 0.72 146.6 3571 2362 2325 2325 165.0 11.4 244 2351 0.00 2.50 0.00 0.000 260 0.000 0.062 3571 3827 2325 2325 2325 0 0 0 0 0 0 28.83 14.42 28.83

2402 0.72 146.6 3570 3827 2324 2324 157.3 13.6 249 2406 0.00 2.40 0.00 0.000 1030 0.000 0.044 3574 2382 2324 2324 2324 0 0 0 0 0 0 28.83 14.50 28.83

2527 0.72 146.6 3574 2382 2323 2324 141.1 12.9 261 2531 0.00 2.38 0.00 0.000 516 0.000 0.069 3574 980 2323 2323 2324 0 0 0 0 0 0 28.83 14.57 28.83

2593 0.72 146.6 3574 980 2323 2323 133.9 10.5 267 2597 0.00 2.38 0.00 0.000 1030 0.000 0.045 3574 2420 2323 2323 2323 0 0 0 0 0 0 28.83 14.64 28.83

2718 0.72 146.6 3573 2420 2321 2324 122.8 10.1 279 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 3574 2420 2322 2321 2324 0 0 0 0 0 0 28.83 28.83 28.83

2839 0.72 146.6 3573 2420 2321 2324 110.1 10.7 291 2848 0.00 2.35 0.00 0.000 260 0.000 0.066 3574 3825 2322 2321 2323 0 0 0 0 0 0 28.83 14.71 28.83

2873 0.72 146.6 3574 3825 2321 2323 106.8 10.3 294 2880 0.00 2.40 0.00 0.000 1030 0.000 0.045 3573 2386 2322 2321 2323 0 0 0 0 0 0 28.83 14.71 28.83

3000 0.72 146.6 3574 2386 2321 2323 95.0 8.8 307 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 3574 2387 2322 2321 2323 0 0 0 0 0 0 28.83 28.83 28.83

3120 0.72 146.6 3574 2386 2320 2323 84.3 9.6 319 3121 0.00 0.00 0.00 0.000 6 0.000 0.000 3574 2386 2322 2321 2323 0 0 0 0 0 0 28.83 28.83 28.83

3241 0.72 146.6 3574 2386 2320 2323 72.8 9.0 331 3250 0.00 2.35 0.00 0.000 516 0.000 0.069 3573 978 2321 2320 2323 0 0 0 0 0 0 28.83 14.77 28.83

3292 0.72 146.6 3574 978 2320 2323 68.6 8.0 336 3296 0.00 2.35 0.00 0.000 1030 0.000 0.046 3574 2424 2321 2320 2323 0 0 0 0 0 0 28.83 14.80 28.83

3417 0.72 146.6 3574 2424 2320 2323 59.1 8.0 348 3421 0.00 2.33 0.00 0.000 260 0.000 0.065 3573 3827 2321 2320 2323 0 0 0 0 0 0 28.83 14.80 28.83

3452 0.72 146.6 3574 3827 2320 2323 55.6 9.5 351 3457 0.00 2.35 0.00 0.000 1030 0.000 0.045 3574 2375 2321 2320 2323 0 0 0 0 0 0 28.83 14.81 28.83

3578 0.73 158.3 3574 2374 2320 2323 45.5 7.1 363 3593 0.00 2.33 9.73 1.106 8708 0.000 0.067 3574 977 2283 2286 2280 0 0 0 0 0 0 28.83 14.75 14.07

3617 0.77 190.5 3574 977 2285 2278 43.2 6.4 366 3655 0.00 2.38 28.40 1.197 9222 0.000 0.045 3574 2429 2152 2167 2138 0 0 0 0 0 0 28.83 14.78 13.80

3774 0.77 190.5 3573 2429 2158 2138 32.2 7.6 382 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2429 2148 2158 2138 0 0 0 0 0 0 28.83 28.83 28.83

3894 0.77 190.5 3574 2429 2156 2138 22.9 7.8 394 3895 0.00 0.00 0.00 0.000 6 0.000 0.000 3574 2429 2147 2157 2137 0 0 0 0 0 0 28.83 28.83 28.83

4014 0.77 190.5 3573 2429 2155 2138 13.1 9.0 414 4020 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2429 2146 2155 2138 0 0 0 0 0 0 28.83 28.83 28.83

4082 0.80 212.3 3574 2429 2155 2138 8.1 6.7 427 4106 0.00 2.40 18.95 1.147 8452 0.000 0.065 3574 3821 2064 2082 2046 0 0 0 0 0 0 28.83 14.63 14.00

4132 0.80 212.3 2688 3820 2014 2035 3.6 9.9 436 4140 0.10 2.38 0.00 0.000 3078 0.174 0.044 3611 2370 2061 2078 2045 0 0 0 0 0 0 14.63 14.66 28.83

4145 end climb: SURFACE_DEPTH_REACHED

state 4145 begin surface coast

4172 end surface coast: CONTROL_FINISHED_OK

state 4172 begin surface

ID	144	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	20	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	90
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	480	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3950	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2930	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	53
T_DIVE	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	20
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-56591.168	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	50	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	120	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3930	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3350	FG_AHR_10V	0	SEABIRD_T_G	0.0043491465
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063627562
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5639563e-05
RHO	1.0233001	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.408302	SEABIRD_T_J	2.8485167e-06
MASS	59412	PITCH_GAIN	24.4	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-9.7093372
MASS_COMP	4370	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1118598
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010979992
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00015928292
KALMAN_USE	0	PITCH_ADJ_GAIN	0	COMPASS_USE	0
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	200	ALTIM_TOP_PING_RANGE	20

GPS1	101013,095853,4745.076,-12225.379,4,0.9,4,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.035,-0.231
_SM_DEPTHo	0.99	KALMAN_X	-828.8,133.2,-66.2,-1618.9,-443.2
_SM_ANGLEo	-74.0	KALMAN_Y	3729.1,505.6,329.2,-1846.4,1393.0
GPS2	101013,100339,4745.098,-12225.368,5,1.4,5,16.3	MHEAD_RNG_PITCHd_Wd	155.1,1548,-13.1,-7.500,-17.78,2936
SPEED_LIMITS	0.063,0.234	D_GRID	180

FINISH	-0.1,1.009283	_24V_AH	13.3,3.410
SM_CCo	4188,72.32,1.181,0,0,1707,300.00	_10V_AH	13.2,0.992
SM_GC	0.99,10.15,0.12,72.32,0.087,0.116,1.181,117,2274,1707,-10.05,0.71,300.00,0,0,0,0,0,0,14.64,14.69,13.74	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12226.80,101013,080800	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	345708
HUMID	59.56	DATA_FILE_SIZE	23641,443
INTERNAL_PRESSURE	8.68462	CAP_FILE_SIZE	76051,0
TCM_TEMP	20.20	CFSIZE	260165632,218476544
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.5,19.4	GPS	101013,111609,4744.571,-12225.446,4,1.0,4,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	430	151.94	SBE_CT	305	24	97.56
Roll_motor	66	147	130.83	WL_BB2FLVMG	539	105	754.08
VBD_pump_during_apogee	291	1363	5283.81	AA3830	450	33	197.75
VBD_pump_during_surface	72	1181	1136.18	SBE_O2	325	19	82.19
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	39.28	nil	0	0	0.00
Iridium_during_connect	45	160	97.66	nil	0	0	0.00
Iridium_during_xfer	142	223	422.77	nil	0	0	0.00
Transponder_ping	5	420	27.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	4.47
TT8	1095	19	286.37
LPSleep	1939	2	56.07
TT8_Active	434	19	113.62
TT8_Sampling	1035	39	544.04
TT8_CF8	52	45	31.49
TT8_Kalman	33	81	35.86
Analog_circuits	934	12	147.99
GPS_charging	0	0	0.00
Compass	790	15	156.57
RAFOS	0	0	0.00
Transponder	32	30	12.81

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	-0.72	-146.6	117	2278	1773	1625	0.0	0.0	0	63	0.00	0.00	-45.80	0.000	16386	0.000	0.000	117	2279	3099	3065	3134	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.72	-146.6	117	2279	3067	3134	2.4	-6.1	8	97	14.68	2.45	-9.20	0.000	18692	0.431	0.086	3109	3721	3531	3462	3601	0	0	0	0	0	0	14.39	14.59	14.78
189	-0.72	-146.6	3109	3720	3468	3601	17.3	-10.5	31	195	0.00	2.35	0.00	0.000	1030	0.000	0.040	3109	2277	3534	3468	3601	0	0	0	0	0	0	28.83	14.66	28.83
257	-0.72	-146.6	3109	2277	3468	3601	24.3	-9.8	40	258	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2278	3534	3468	3601	0	0	0	0	0	0	28.83	28.83	28.83
377	-0.72	-146.6	3109	2277	3469	3601	35.9	-9.2	52	381	0.00	2.33	0.00	0.000	516	0.000	0.063	3109	873	3535	3469	3601	0	0	0	0	0	0	28.83	14.71	28.83
423	-0.72	-146.6	3109	873	3469	3601	40.4	-9.7	56	427	0.00	2.38	0.00	0.000	1030	0.000	0.049	3109	2318	3534	3468	3601	0	0	0	0	0	0	28.83	14.73	28.83
548	-0.72	-146.6	3109	2318	3469	3601	52.4	-9.0	68	549	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2318	3535	3469	3601	0	0	0	0	0	0	28.83	28.83	28.83
668	-0.72	-146.6	3109	2318	3469	3601	63.7	-9.6	80	672	0.00	2.33	0.00	0.000	260	0.000	0.065	3109	3722	3535	3469	3601	0	0	0	0	0	0	28.83	14.76	28.83
723	-0.72	-146.6	3109	3722	3469	3601	69.1	-9.6	85	728	0.00	2.33	0.00	0.000	1030	0.000	0.040	3108	2276	3535	3470	3601	0	0	0	0	0	0	28.83	14.81	28.83
849	-0.72	-146.6	3109	2276	3469	3601	81.1	-9.7	97	850	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2276	3535	3469	3601	0	0	0	0	0	0	28.83	28.83	28.83
969	-0.72	-146.6	3109	2276	3470	3601	92.2	-9.9	109	970	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2276	3535	3469	3601	0	0	0	0	0	0	28.83	28.83	28.83
1089	-0.72	-146.6	3109	2276	3469	3601	101.8	-7.4	121	1098	0.00	2.40	0.00	0.000	260	0.000	0.064	3109	3721	3535	3469	3601	0	0	0	0	0	0	28.83	14.81	28.83
1170	-0.72	-146.6	3109	3721	3470	3601	107.9	-7.3	129	1174	0.00	2.33	0.00	0.000	1030	0.000	0.041	3108	2268	3535	3469	3601	0	0	0	0	0	0	28.83	14.85	28.83
1296	-0.72	-146.6	3109	2268	3470	3601	117.3	-8.2	141	1305	0.00	2.40	0.00	0.000	260	0.000	0.067	3109	3712	3535	3470	3601	0	0	0	0	0	0	28.83	14.76	28.83
1340	-0.72	-146.6	3109	3712	3470	3601	121.0	-8.8	145	1347	0.00	2.35	0.00	0.000	1030	0.000	0.041	3109	2281	3535	3470	3601	0	0	0	0	0	0	28.83	14.83	28.83
1467	-0.72	-146.6	3109	2279	3470	3601	132.6	-9.1	158	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2279	3535	3469	3601	0	0	0	0	0	0	28.83	28.83	28.83
1587	-0.72	-146.6	3109	2279	3470	3601	143.1	-8.5	170	1591	0.00	2.30	0.00	0.000	516	0.000	0.063	3109	876	3535	3470	3601	0	0	0	0	0	0	28.83	14.83	28.83
1642	-0.72	-146.6	3109	875	3470	3601	148.1	-9.9	175	1647	0.00	2.35	0.00	0.000	1030	0.000	0.047	3109	2317	3535	3469	3601	0	0	0	0	0	0	28.83	14.85	28.83
1767	-0.72	-146.6	3109	2317	3470	3601	159.5	-7.8	187	1772	0.00	2.33	0.00	0.000	260	0.000	0.065	3109	3726	3535	3470	3601	0	0	0	0	0	0	28.83	14.83	28.83
1825	-0.72	-146.6	3109	3726	3470	3601	165.9	-11.1	192	1834	0.00	2.33	0.00	0.000	1030	0.000	0.041	3109	2275	3535	3470	3601	0	0	0	0	0	0	28.83	14.87	28.83
1955	-0.72	-146.6	3109	2274	3470	3601	178.7	-11.5	205	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2274	3535	3470	3601	0	0	0	0	0	0	28.83	28.83	28.83
1974	end dive: TARGET_DEPTH_EXCEEDED
state	1974	begin apogee
1978	-0.20	0.0	3109	2436	3470	3601	180.9	-11.4	207	2106	0.57	0.08	117.90	1.363	10246	0.237	0.148	3273	2363	2929	2905	2953	0	0	0	0	0	0	14.68	14.19	13.33
2107	end apogee: CONTROL_FINISHED_OK
state	2107	begin climb
2108	0.72	146.6	3273	2362	2903	2953	186.6	0.0	220	2230	1.02	0.00	116.45	1.333	10758	0.194	0.000	3571	2362	2332	2337	2327	0	0	0	0	0	0	14.14	28.83	13.40
2346	0.72	146.6	3571	2362	2325	2325	165.0	11.4	244	2351	0.00	2.50	0.00	0.000	260	0.000	0.062	3571	3827	2325	2325	2325	0	0	0	0	0	0	28.83	14.42	28.83
2402	0.72	146.6	3570	3827	2324	2324	157.3	13.6	249	2406	0.00	2.40	0.00	0.000	1030	0.000	0.044	3574	2382	2324	2324	2324	0	0	0	0	0	0	28.83	14.50	28.83
2527	0.72	146.6	3574	2382	2323	2324	141.1	12.9	261	2531	0.00	2.38	0.00	0.000	516	0.000	0.069	3574	980	2323	2323	2324	0	0	0	0	0	0	28.83	14.57	28.83
2593	0.72	146.6	3574	980	2323	2323	133.9	10.5	267	2597	0.00	2.38	0.00	0.000	1030	0.000	0.045	3574	2420	2323	2323	2323	0	0	0	0	0	0	28.83	14.64	28.83
2718	0.72	146.6	3573	2420	2321	2324	122.8	10.1	279	2719	0.00	0.00	0.00	0.000	6	0.000	0.000	3574	2420	2322	2321	2324	0	0	0	0	0	0	28.83	28.83	28.83
2839	0.72	146.6	3573	2420	2321	2324	110.1	10.7	291	2848	0.00	2.35	0.00	0.000	260	0.000	0.066	3574	3825	2322	2321	2323	0	0	0	0	0	0	28.83	14.71	28.83
2873	0.72	146.6	3574	3825	2321	2323	106.8	10.3	294	2880	0.00	2.40	0.00	0.000	1030	0.000	0.045	3573	2386	2322	2321	2323	0	0	0	0	0	0	28.83	14.71	28.83
3000	0.72	146.6	3574	2386	2321	2323	95.0	8.8	307	3001	0.00	0.00	0.00	0.000	6	0.000	0.000	3574	2387	2322	2321	2323	0	0	0	0	0	0	28.83	28.83	28.83
3120	0.72	146.6	3574	2386	2320	2323	84.3	9.6	319	3121	0.00	0.00	0.00	0.000	6	0.000	0.000	3574	2386	2322	2321	2323	0	0	0	0	0	0	28.83	28.83	28.83
3241	0.72	146.6	3574	2386	2320	2323	72.8	9.0	331	3250	0.00	2.35	0.00	0.000	516	0.000	0.069	3573	978	2321	2320	2323	0	0	0	0	0	0	28.83	14.77	28.83
3292	0.72	146.6	3574	978	2320	2323	68.6	8.0	336	3296	0.00	2.35	0.00	0.000	1030	0.000	0.046	3574	2424	2321	2320	2323	0	0	0	0	0	0	28.83	14.80	28.83
3417	0.72	146.6	3574	2424	2320	2323	59.1	8.0	348	3421	0.00	2.33	0.00	0.000	260	0.000	0.065	3573	3827	2321	2320	2323	0	0	0	0	0	0	28.83	14.80	28.83
3452	0.72	146.6	3574	3827	2320	2323	55.6	9.5	351	3457	0.00	2.35	0.00	0.000	1030	0.000	0.045	3574	2375	2321	2320	2323	0	0	0	0	0	0	28.83	14.81	28.83
3578	0.73	158.3	3574	2374	2320	2323	45.5	7.1	363	3593	0.00	2.33	9.73	1.106	8708	0.000	0.067	3574	977	2283	2286	2280	0	0	0	0	0	0	28.83	14.75	14.07
3617	0.77	190.5	3574	977	2285	2278	43.2	6.4	366	3655	0.00	2.38	28.40	1.197	9222	0.000	0.045	3574	2429	2152	2167	2138	0	0	0	0	0	0	28.83	14.78	13.80
3774	0.77	190.5	3573	2429	2158	2138	32.2	7.6	382	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2429	2148	2158	2138	0	0	0	0	0	0	28.83	28.83	28.83
3894	0.77	190.5	3574	2429	2156	2138	22.9	7.8	394	3895	0.00	0.00	0.00	0.000	6	0.000	0.000	3574	2429	2147	2157	2137	0	0	0	0	0	0	28.83	28.83	28.83
4014	0.77	190.5	3573	2429	2155	2138	13.1	9.0	414	4020	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2429	2146	2155	2138	0	0	0	0	0	0	28.83	28.83	28.83
4082	0.80	212.3	3574	2429	2155	2138	8.1	6.7	427	4106	0.00	2.40	18.95	1.147	8452	0.000	0.065	3574	3821	2064	2082	2046	0	0	0	0	0	0	28.83	14.63	14.00
4132	0.80	212.3	2688	3820	2014	2035	3.6	9.9	436	4140	0.10	2.38	0.00	0.000	3078	0.174	0.044	3611	2370	2061	2078	2045	0	0	0	0	0	0	14.63	14.66	28.83
4145	end climb: SURFACE_DEPTH_REACHED
state	4145	begin surface coast
4172	end surface coast: CONTROL_FINISHED_OK
state	4172	begin surface