Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 18 * 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 18 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 56 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 41 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 -3059.0234 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 -3059.0234

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 56 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 41 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 18 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 231013,114239,4744.152,-12224.396,1,1.0,2,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.015,0.220

_SM_DEPTHo 0.52 KALMAN_X -315.8,-195.6,42.4,173.0,-195.3

_SM_ANGLEo -64.8 KALMAN_Y 180.8,599.3,78.6,-1103.8,-402.7

GPS2 231013,114713,4744.135,-12224.381,4,1.0,4,16.3 MHEAD_RNG_PITCHd_Wd 347.5,692,-11.5,-6.667,-16.81,3244

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.2,1.022663 _24V_AH 24.4,1.801

SM_CCo 4608,0.00,0.000,0,0,917,329.93 _10V_AH 10.4,1.767

SM_GC 0.33,6.95,0.00,0.00,0.031,0.000,0.000,182,2028,917,-7.76,0.08,329.93,0,0,0,0,0,0,26.26,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12225.08,231013,101045 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323092

HUMID 41.69 DATA_FILE_SIZE 30388,485

INTERNAL_PRESSURE 8.94694 CAP_FILE_SIZE 77575,0

TCM_TEMP 14.20 CFSIZE 2097872896,2093056000

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

ALTIM_TOP_PING 19.9,20.0 GPS 231013,130545,4744.007,-12224.594,12,1.1,12,16.3

ALTIM_BOTTOM_PING 135.4,52.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 203 83.04 SBE_CT 324 22 178.16

Roll_motor 55 44 60.55 AA4330 641 11 175.79

VBD_pump_during_apogee 369 615 5545.02 WL_BB2FLVMT 1042 105 2670.86

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 221 75 408.99 nil 0 0 0.00

Transponder_ping 4 420 40.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 30 1.77

TT8 1172 15 185.39

LPSleep 1761 2 40.11

TT8_Active 404 15 63.98

TT8_Sampling 1499 43 681.25

TT8_CF8 62 53 34.69

TT8_Kalman 33 69 23.89

Analog_circuits 1218 14 177.40

GPS_charging 0 0 0.00

Compass 1279 8 109.65

RAFOS 0 0 0.00

Transponder 28 30 8.93

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 -146.6 177 2032 1342 1109 0.0 0.0 0 82 0.00 0.00 -61.00 0.000 16390 0.000 0.000 177 2032 2860 2870 2851 0 0 0 0 0 0 28.83 28.83 26.33

84 -0.52 -146.6 177 2032 2870 2851 3.4 -7.0 10 99 8.70 2.17 0.00 0.000 2564 0.203 0.034 2522 634 2862 2880 2845 0 0 0 0 0 0 25.75 25.98 28.83

181 -0.52 -146.6 1504 634 2858 2833 16.9 -8.6 28 188 0.00 2.15 0.00 0.000 1030 0.000 0.033 2516 2014 2863 2891 2836 0 0 0 0 0 0 28.83 26.08 28.83

251 -0.52 -146.6 2516 2014 2892 2835 22.7 -8.1 38 252 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2014 2863 2892 2834 0 0 0 0 0 0 28.83 28.83 28.83

371 -0.52 -146.6 2516 2014 2893 2833 32.0 -7.6 50 372 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2014 2863 2893 2833 0 0 0 0 0 0 28.83 28.83 28.83

491 -0.52 -146.6 2516 2014 2894 2833 42.2 -9.3 62 492 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2015 2863 2894 2833 0 0 0 0 0 0 28.83 28.83 28.83

611 -0.52 -146.6 2516 2015 2893 2833 52.5 -8.4 74 621 0.00 2.20 0.00 0.000 260 0.000 0.044 2510 3432 2863 2894 2832 0 0 0 0 0 0 28.83 26.28 28.83

755 -0.52 -146.6 2510 3432 2896 2831 63.7 -8.0 88 765 0.00 2.10 0.00 0.000 1030 0.000 0.027 2509 2017 2864 2896 2832 0 0 0 0 0 0 28.83 26.39 28.83

885 -0.52 -146.6 2510 2017 2896 2831 73.0 -7.3 101 895 0.00 2.10 0.00 0.000 516 0.000 0.041 2510 640 2864 2897 2831 0 0 0 0 0 0 28.83 26.36 28.83

941 -0.52 -146.6 2509 640 2897 2831 77.8 -9.0 106 951 0.08 2.08 0.00 0.000 3078 0.107 0.033 2531 2028 2863 2896 2831 0 0 0 0 0 0 26.29 26.41 28.83

1070 -0.52 -146.6 2531 2028 2897 2831 87.5 -7.0 119 1080 0.00 2.17 0.00 0.000 260 0.000 0.044 2524 3429 2863 2896 2831 0 0 0 0 0 0 28.83 26.40 28.83

1164 -0.52 -146.6 2523 3429 2897 2830 94.0 -6.8 128 1173 0.00 2.08 0.00 0.000 1030 0.000 0.026 2524 2023 2864 2897 2831 0 0 0 0 0 0 28.83 26.47 28.83

1294 -0.52 -146.6 2523 2023 2897 2831 102.3 -5.5 141 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2023 2864 2898 2831 0 0 0 0 0 0 28.83 28.83 28.83

1414 -0.52 -146.6 2523 2023 2898 2831 109.0 -5.4 153 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2023 2864 2898 2831 0 0 0 0 0 0 28.83 28.83 28.83

1534 -0.52 -146.6 2524 2023 2898 2831 114.6 -4.7 165 1547 0.00 2.17 0.00 0.000 260 0.000 0.044 2514 3435 2863 2897 2830 0 0 0 0 0 0 28.83 26.47 28.83

1602 -0.52 -146.6 2513 3435 2897 2829 118.1 -5.4 171 1611 0.00 2.12 0.00 0.000 1030 0.000 0.027 2514 2022 2864 2898 2830 0 0 0 0 0 0 28.83 26.53 28.83

1731 -0.52 -146.6 2513 2022 2898 2829 125.4 -4.4 184 1741 0.00 2.10 0.00 0.000 516 0.000 0.040 2514 640 2864 2899 2830 0 0 0 0 0 0 28.83 26.49 28.83

1766 -0.52 -146.6 2513 640 2898 2830 126.7 -3.8 187 1774 0.00 2.12 0.00 0.000 1030 0.000 0.033 2506 2025 2864 2899 2830 0 0 0 0 0 0 28.83 26.53 28.83

1895 -0.52 -146.6 2507 2025 2898 2829 134.2 -5.9 200 1896 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2025 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

2014 -0.52 -146.6 2506 2025 2898 2829 142.3 -6.9 212 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2025 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

2133 end dive: TARGET_DEPTH_EXCEEDED

state 2133 begin apogee

2136 -0.23 0.0 2506 2025 2898 2830 150.4 -6.3 224 2247 0.32 0.00 105.97 0.616 10246 0.097 0.000 2621 2024 2261 2366 2157 0 0 0 0 0 0 26.48 28.83 24.77

2248 end apogee: CONTROL_FINISHED_OK

state 2249 begin climb

2250 0.52 146.6 2620 2025 2366 2157 152.8 0.0 235 2367 0.68 0.00 113.50 0.599 10246 0.067 0.000 2865 2025 1664 1803 1525 0 0 0 0 0 0 25.37 28.83 24.44

2485 0.52 171.9 2864 2025 1801 1521 140.5 5.9 259 2508 0.00 0.00 20.35 0.568 8198 0.000 0.000 2865 2024 1561 1700 1422 0 0 0 0 0 0 28.83 28.83 24.87

2626 0.52 179.9 2865 2025 1699 1418 131.7 6.4 273 2636 0.00 0.00 7.35 0.496 8198 0.000 0.000 2865 2025 1527 1667 1387 0 0 0 0 0 0 28.83 28.83 25.12

2755 0.52 179.9 2865 2025 1667 1387 122.3 7.5 286 2756 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2025 1527 1667 1387 0 0 0 0 0 0 28.83 28.83 28.83

2875 0.52 179.9 2865 2025 1667 1387 112.3 8.0 298 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2025 1527 1667 1387 0 0 0 0 0 0 28.83 28.83 28.83

2995 0.52 179.9 2865 2025 1667 1386 103.7 6.9 310 3005 0.00 2.15 0.00 0.000 516 0.000 0.042 2865 641 1527 1667 1387 0 0 0 0 0 0 28.83 26.13 28.83

3048 0.52 190.1 2865 641 1667 1386 100.2 6.3 315 3062 0.00 2.12 9.18 0.509 9222 0.000 0.032 2865 2035 1486 1627 1345 0 0 0 0 0 0 28.83 26.20 25.45

3183 0.52 190.1 2865 2035 1627 1345 89.8 8.2 328 3184 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2035 1486 1627 1345 0 0 0 0 0 0 28.83 28.83 28.83

3302 0.52 190.1 2865 2035 1627 1345 80.4 7.1 340 3304 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2035 1486 1627 1345 0 0 0 0 0 0 28.83 28.83 28.83

3423 0.52 190.6 2865 2035 1627 1345 72.2 6.7 352 3424 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2035 1486 1627 1345 0 0 0 0 0 0 28.83 28.83 28.83

3543 0.52 235.6 2865 2035 1627 1345 65.1 5.2 364 3586 0.00 2.25 36.60 0.550 8452 0.000 0.043 2865 3425 1300 1449 1151 0 0 0 0 0 0 28.83 25.87 25.29

3606 0.52 255.4 2865 3424 1449 1151 61.7 6.0 370 3628 0.00 2.15 16.77 0.522 9222 0.000 0.028 2865 2034 1220 1371 1070 0 0 0 0 0 0 28.83 25.98 25.18

3755 0.52 255.4 2865 2034 1371 1067 51.5 6.7 385 3765 0.00 2.17 0.00 0.000 516 0.000 0.042 2865 637 1218 1370 1066 0 0 0 0 0 0 28.83 25.98 28.83

3798 0.52 274.1 2865 637 1370 1065 48.9 6.1 389 3819 0.00 2.12 15.38 0.513 9222 0.000 0.031 2865 2035 1144 1297 991 0 0 0 0 0 0 28.83 26.08 25.28

3938 0.52 304.9 2865 2035 1297 988 40.7 5.7 403 3969 0.00 2.28 25.12 0.526 8452 0.000 0.042 2865 3426 1018 1175 862 0 0 0 0 0 0 28.83 25.75 25.20

4002 0.52 324.9 2865 3426 1175 862 36.9 6.0 409 4024 0.00 2.12 16.73 0.508 9222 0.000 0.027 2865 2022 937 1094 780 0 0 0 0 0 0 28.83 25.89 25.12

4143 0.52 326.5 2865 2022 1094 775 28.3 6.6 423 4152 0.00 2.17 0.00 0.000 516 0.000 0.041 2865 631 934 1094 775 0 0 0 0 0 0 28.83 25.91 28.83

4195 0.52 329.4 2865 631 1094 774 24.8 6.6 428 4206 0.00 2.12 2.08 0.177 9222 0.000 0.031 2865 2031 918 1077 759 0 0 0 0 0 0 28.83 26.02 24.91

4328 0.52 329.4 1792 2029 1069 759 15.3 7.3 447 4335 0.00 2.20 0.00 0.000 260 0.000 0.042 2865 3417 918 1077 760 0 0 0 0 0 0 28.83 26.09 28.83

4367 0.52 329.4 1824 3416 1070 759 12.1 9.1 454 4375 0.00 2.12 0.00 0.000 1030 0.000 0.028 2866 2026 919 1078 760 0 0 0 0 0 0 28.83 26.16 28.83

4436 0.52 329.4 1792 2024 1069 759 7.0 6.8 467 4444 0.00 2.20 0.00 0.000 516 0.000 0.042 2865 635 919 1078 760 0 0 0 0 0 0 28.83 26.15 28.83

4485 0.52 329.4 1792 635 1070 758 3.5 7.3 476 4493 0.00 2.15 0.00 0.000 1030 0.000 0.031 2865 2028 918 1078 758 0 0 0 0 0 0 28.83 26.22 28.83

4509 end climb: SURFACE_DEPTH_REACHED

state 4509 begin surface coast

4536 end surface coast: CONTROL_FINISHED_OK

state 4536 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	18	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	56	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	41	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	-3059.0234	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	231013,114239,4744.152,-12224.396,1,1.0,2,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.015,0.220
_SM_DEPTHo	0.52	KALMAN_X	-315.8,-195.6,42.4,173.0,-195.3
_SM_ANGLEo	-64.8	KALMAN_Y	180.8,599.3,78.6,-1103.8,-402.7
GPS2	231013,114713,4744.135,-12224.381,4,1.0,4,16.3	MHEAD_RNG_PITCHd_Wd	347.5,692,-11.5,-6.667,-16.81,3244
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	0.2,1.022663	_24V_AH	24.4,1.801
SM_CCo	4608,0.00,0.000,0,0,917,329.93	_10V_AH	10.4,1.767
SM_GC	0.33,6.95,0.00,0.00,0.031,0.000,0.000,182,2028,917,-7.76,0.08,329.93,0,0,0,0,0,0,26.26,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12225.08,231013,101045	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323092
HUMID	41.69	DATA_FILE_SIZE	30388,485
INTERNAL_PRESSURE	8.94694	CAP_FILE_SIZE	77575,0
TCM_TEMP	14.20	CFSIZE	2097872896,2093056000
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,20.0	GPS	231013,130545,4744.007,-12224.594,12,1.1,12,16.3
ALTIM_BOTTOM_PING	135.4,52.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	203	83.04	SBE_CT	324	22	178.16
Roll_motor	55	44	60.55	AA4330	641	11	175.79
VBD_pump_during_apogee	369	615	5545.02	WL_BB2FLVMT	1042	105	2670.86
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	221	75	408.99	nil	0	0	0.00
Transponder_ping	4	420	40.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	30	1.77
TT8	1172	15	185.39
LPSleep	1761	2	40.11
TT8_Active	404	15	63.98
TT8_Sampling	1499	43	681.25
TT8_CF8	62	53	34.69
TT8_Kalman	33	69	23.89
Analog_circuits	1218	14	177.40
GPS_charging	0	0	0.00
Compass	1279	8	109.65
RAFOS	0	0	0.00
Transponder	28	30	8.93

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	177	2032	1342	1109	0.0	0.0	0	82	0.00	0.00	-61.00	0.000	16390	0.000	0.000	177	2032	2860	2870	2851	0	0	0	0	0	0	28.83	28.83	26.33
84	-0.52	-146.6	177	2032	2870	2851	3.4	-7.0	10	99	8.70	2.17	0.00	0.000	2564	0.203	0.034	2522	634	2862	2880	2845	0	0	0	0	0	0	25.75	25.98	28.83
181	-0.52	-146.6	1504	634	2858	2833	16.9	-8.6	28	188	0.00	2.15	0.00	0.000	1030	0.000	0.033	2516	2014	2863	2891	2836	0	0	0	0	0	0	28.83	26.08	28.83
251	-0.52	-146.6	2516	2014	2892	2835	22.7	-8.1	38	252	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2014	2863	2892	2834	0	0	0	0	0	0	28.83	28.83	28.83
371	-0.52	-146.6	2516	2014	2893	2833	32.0	-7.6	50	372	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2014	2863	2893	2833	0	0	0	0	0	0	28.83	28.83	28.83
491	-0.52	-146.6	2516	2014	2894	2833	42.2	-9.3	62	492	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2015	2863	2894	2833	0	0	0	0	0	0	28.83	28.83	28.83
611	-0.52	-146.6	2516	2015	2893	2833	52.5	-8.4	74	621	0.00	2.20	0.00	0.000	260	0.000	0.044	2510	3432	2863	2894	2832	0	0	0	0	0	0	28.83	26.28	28.83
755	-0.52	-146.6	2510	3432	2896	2831	63.7	-8.0	88	765	0.00	2.10	0.00	0.000	1030	0.000	0.027	2509	2017	2864	2896	2832	0	0	0	0	0	0	28.83	26.39	28.83
885	-0.52	-146.6	2510	2017	2896	2831	73.0	-7.3	101	895	0.00	2.10	0.00	0.000	516	0.000	0.041	2510	640	2864	2897	2831	0	0	0	0	0	0	28.83	26.36	28.83
941	-0.52	-146.6	2509	640	2897	2831	77.8	-9.0	106	951	0.08	2.08	0.00	0.000	3078	0.107	0.033	2531	2028	2863	2896	2831	0	0	0	0	0	0	26.29	26.41	28.83
1070	-0.52	-146.6	2531	2028	2897	2831	87.5	-7.0	119	1080	0.00	2.17	0.00	0.000	260	0.000	0.044	2524	3429	2863	2896	2831	0	0	0	0	0	0	28.83	26.40	28.83
1164	-0.52	-146.6	2523	3429	2897	2830	94.0	-6.8	128	1173	0.00	2.08	0.00	0.000	1030	0.000	0.026	2524	2023	2864	2897	2831	0	0	0	0	0	0	28.83	26.47	28.83
1294	-0.52	-146.6	2523	2023	2897	2831	102.3	-5.5	141	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2023	2864	2898	2831	0	0	0	0	0	0	28.83	28.83	28.83
1414	-0.52	-146.6	2523	2023	2898	2831	109.0	-5.4	153	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2023	2864	2898	2831	0	0	0	0	0	0	28.83	28.83	28.83
1534	-0.52	-146.6	2524	2023	2898	2831	114.6	-4.7	165	1547	0.00	2.17	0.00	0.000	260	0.000	0.044	2514	3435	2863	2897	2830	0	0	0	0	0	0	28.83	26.47	28.83
1602	-0.52	-146.6	2513	3435	2897	2829	118.1	-5.4	171	1611	0.00	2.12	0.00	0.000	1030	0.000	0.027	2514	2022	2864	2898	2830	0	0	0	0	0	0	28.83	26.53	28.83
1731	-0.52	-146.6	2513	2022	2898	2829	125.4	-4.4	184	1741	0.00	2.10	0.00	0.000	516	0.000	0.040	2514	640	2864	2899	2830	0	0	0	0	0	0	28.83	26.49	28.83
1766	-0.52	-146.6	2513	640	2898	2830	126.7	-3.8	187	1774	0.00	2.12	0.00	0.000	1030	0.000	0.033	2506	2025	2864	2899	2830	0	0	0	0	0	0	28.83	26.53	28.83
1895	-0.52	-146.6	2507	2025	2898	2829	134.2	-5.9	200	1896	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2025	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
2014	-0.52	-146.6	2506	2025	2898	2829	142.3	-6.9	212	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2025	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
2133	end dive: TARGET_DEPTH_EXCEEDED
state	2133	begin apogee
2136	-0.23	0.0	2506	2025	2898	2830	150.4	-6.3	224	2247	0.32	0.00	105.97	0.616	10246	0.097	0.000	2621	2024	2261	2366	2157	0	0	0	0	0	0	26.48	28.83	24.77
2248	end apogee: CONTROL_FINISHED_OK
state	2249	begin climb
2250	0.52	146.6	2620	2025	2366	2157	152.8	0.0	235	2367	0.68	0.00	113.50	0.599	10246	0.067	0.000	2865	2025	1664	1803	1525	0	0	0	0	0	0	25.37	28.83	24.44
2485	0.52	171.9	2864	2025	1801	1521	140.5	5.9	259	2508	0.00	0.00	20.35	0.568	8198	0.000	0.000	2865	2024	1561	1700	1422	0	0	0	0	0	0	28.83	28.83	24.87
2626	0.52	179.9	2865	2025	1699	1418	131.7	6.4	273	2636	0.00	0.00	7.35	0.496	8198	0.000	0.000	2865	2025	1527	1667	1387	0	0	0	0	0	0	28.83	28.83	25.12
2755	0.52	179.9	2865	2025	1667	1387	122.3	7.5	286	2756	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2025	1527	1667	1387	0	0	0	0	0	0	28.83	28.83	28.83
2875	0.52	179.9	2865	2025	1667	1387	112.3	8.0	298	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2025	1527	1667	1387	0	0	0	0	0	0	28.83	28.83	28.83
2995	0.52	179.9	2865	2025	1667	1386	103.7	6.9	310	3005	0.00	2.15	0.00	0.000	516	0.000	0.042	2865	641	1527	1667	1387	0	0	0	0	0	0	28.83	26.13	28.83
3048	0.52	190.1	2865	641	1667	1386	100.2	6.3	315	3062	0.00	2.12	9.18	0.509	9222	0.000	0.032	2865	2035	1486	1627	1345	0	0	0	0	0	0	28.83	26.20	25.45
3183	0.52	190.1	2865	2035	1627	1345	89.8	8.2	328	3184	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2035	1486	1627	1345	0	0	0	0	0	0	28.83	28.83	28.83
3302	0.52	190.1	2865	2035	1627	1345	80.4	7.1	340	3304	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2035	1486	1627	1345	0	0	0	0	0	0	28.83	28.83	28.83
3423	0.52	190.6	2865	2035	1627	1345	72.2	6.7	352	3424	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2035	1486	1627	1345	0	0	0	0	0	0	28.83	28.83	28.83
3543	0.52	235.6	2865	2035	1627	1345	65.1	5.2	364	3586	0.00	2.25	36.60	0.550	8452	0.000	0.043	2865	3425	1300	1449	1151	0	0	0	0	0	0	28.83	25.87	25.29
3606	0.52	255.4	2865	3424	1449	1151	61.7	6.0	370	3628	0.00	2.15	16.77	0.522	9222	0.000	0.028	2865	2034	1220	1371	1070	0	0	0	0	0	0	28.83	25.98	25.18
3755	0.52	255.4	2865	2034	1371	1067	51.5	6.7	385	3765	0.00	2.17	0.00	0.000	516	0.000	0.042	2865	637	1218	1370	1066	0	0	0	0	0	0	28.83	25.98	28.83
3798	0.52	274.1	2865	637	1370	1065	48.9	6.1	389	3819	0.00	2.12	15.38	0.513	9222	0.000	0.031	2865	2035	1144	1297	991	0	0	0	0	0	0	28.83	26.08	25.28
3938	0.52	304.9	2865	2035	1297	988	40.7	5.7	403	3969	0.00	2.28	25.12	0.526	8452	0.000	0.042	2865	3426	1018	1175	862	0	0	0	0	0	0	28.83	25.75	25.20
4002	0.52	324.9	2865	3426	1175	862	36.9	6.0	409	4024	0.00	2.12	16.73	0.508	9222	0.000	0.027	2865	2022	937	1094	780	0	0	0	0	0	0	28.83	25.89	25.12
4143	0.52	326.5	2865	2022	1094	775	28.3	6.6	423	4152	0.00	2.17	0.00	0.000	516	0.000	0.041	2865	631	934	1094	775	0	0	0	0	0	0	28.83	25.91	28.83
4195	0.52	329.4	2865	631	1094	774	24.8	6.6	428	4206	0.00	2.12	2.08	0.177	9222	0.000	0.031	2865	2031	918	1077	759	0	0	0	0	0	0	28.83	26.02	24.91
4328	0.52	329.4	1792	2029	1069	759	15.3	7.3	447	4335	0.00	2.20	0.00	0.000	260	0.000	0.042	2865	3417	918	1077	760	0	0	0	0	0	0	28.83	26.09	28.83
4367	0.52	329.4	1824	3416	1070	759	12.1	9.1	454	4375	0.00	2.12	0.00	0.000	1030	0.000	0.028	2866	2026	919	1078	760	0	0	0	0	0	0	28.83	26.16	28.83
4436	0.52	329.4	1792	2024	1069	759	7.0	6.8	467	4444	0.00	2.20	0.00	0.000	516	0.000	0.042	2865	635	919	1078	760	0	0	0	0	0	0	28.83	26.15	28.83
4485	0.52	329.4	1792	635	1070	758	3.5	7.3	476	4493	0.00	2.15	0.00	0.000	1030	0.000	0.031	2865	2028	918	1078	758	0	0	0	0	0	0	28.83	26.22	28.83
4509	end climb: SURFACE_DEPTH_REACHED
state	4509	begin surface coast
4536	end surface coast: CONTROL_FINISHED_OK
state	4536	begin surface