Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 19 * 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 19 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 49 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 -3060.2808 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 -3060.2808

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 49 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 19 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 231013,130545,4744.007,-12224.594,12,1.1,12,16.3 TGT_NAME NORTH

_CALLS 5 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.048,0.215

_SM_DEPTHo 0.47 KALMAN_X -541.6,-250.4,-13.7,241.8,-209.3

_SM_ANGLEo -61.8 KALMAN_Y -1034.8,825.7,-278.5,-96.4,-897.6

GPS2 231013,131857,4743.950,-12224.599,12,1.0,13,16.3 MHEAD_RNG_PITCHd_Wd 356.4,1026,-11.5,-6.667,-16.81,3244

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH -0.6,1.022605 _24V_AH 24.4,1.871

SM_CCo 4388,0.00,0.000,0,0,959,319.63 _10V_AH 10.3,1.842

SM_GC 0.28,6.93,0.00,0.00,0.031,0.000,0.000,177,2031,959,-7.76,0.17,319.63,0,0,0,0,0,0,26.39,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12227.78,231013,131348 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323120

HUMID 41.92 DATA_FILE_SIZE 30395,467

INTERNAL_PRESSURE 8.9567 CAP_FILE_SIZE 81134,0

TCM_TEMP 14.90 CFSIZE 2097872896,2092957696

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

ALTIM_TOP_PING 19.6,19.8 INTR 0,2540.04,0x235906,1,24

ALTIM_BOTTOM_PING 135.1,54.1 GPS 231013,143404,4743.985,-12224.447,26,0.9,26,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 203 82.67 SBE_CT 311 22 170.82

Roll_motor 69 44 74.89 AA4330 617 11 169.14

VBD_pump_during_apogee 358 616 5393.56 WL_BB2FLVMT 1003 105 2571.58

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 546 80 1070.66 nil 0 0 0.00

Transponder_ping 3 420 38.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 30 4.50

TT8 1115 15 174.76

LPSleep 1762 2 39.76

TT8_Active 419 15 65.76

TT8_Sampling 1834 43 825.11

TT8_CF8 62 53 34.12

TT8_Kalman 33 69 23.65

Analog_circuits 1598 14 230.52

GPS_charging 0 0 0.00

Compass 1276 8 108.38

RAFOS 0 0 0.00

Transponder 25 30 7.95

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 -146.6 182 2027 1068 758 0.0 0.0 0 95 0.00 0.00 -73.70 0.000 16390 0.000 0.000 182 2028 2860 2872 2848 0 0 0 0 0 0 28.83 28.83 26.46

97 -0.52 -146.6 182 2028 2872 2848 3.5 -7.3 12 112 8.62 2.17 0.00 0.000 2308 0.203 0.037 2515 3429 2862 2883 2842 0 0 0 0 0 0 25.86 26.11 28.83

179 -0.52 -146.6 1504 3428 2862 2828 15.3 -8.9 27 186 0.00 2.15 0.00 0.000 1030 0.000 0.027 2516 2014 2863 2894 2832 0 0 0 0 0 0 28.83 26.22 28.83

249 -0.52 -146.6 2515 2014 2894 2832 20.9 -7.8 39 258 0.00 2.12 0.00 0.000 516 0.000 0.040 2516 634 2863 2894 2832 0 0 0 0 0 0 28.83 26.18 28.83

291 -0.52 -146.6 2515 634 2894 2832 24.1 -7.7 43 300 0.00 2.12 0.00 0.000 1030 0.000 0.033 2507 2028 2863 2894 2832 0 0 0 0 0 0 28.83 26.25 28.83

421 -0.52 -146.6 2507 2028 2895 2832 34.7 -8.5 56 430 0.00 2.17 0.00 0.000 260 0.000 0.044 2497 3432 2862 2894 2831 0 0 0 0 0 0 28.83 26.27 28.83

453 -0.52 -146.6 2497 3432 2895 2831 37.8 -9.6 59 463 0.12 2.10 0.00 0.000 3078 0.125 0.027 2534 2011 2863 2896 2831 0 0 0 0 0 0 26.21 26.33 28.83

583 -0.52 -146.6 2533 2011 2896 2831 48.7 -8.2 72 593 0.00 2.10 0.00 0.000 516 0.000 0.040 2533 640 2863 2896 2831 0 0 0 0 0 0 28.83 26.32 28.83

656 -0.52 -146.6 2534 640 2897 2831 54.8 -8.3 79 666 0.00 2.10 0.00 0.000 1030 0.000 0.033 2528 2027 2863 2897 2830 0 0 0 0 0 0 28.83 26.37 28.83

786 -0.52 -146.6 2528 2027 2896 2830 64.4 -7.4 92 796 0.00 2.17 0.00 0.000 260 0.000 0.044 2523 3436 2863 2896 2830 0 0 0 0 0 0 28.83 26.37 28.83

912 -0.52 -146.6 2523 3436 2897 2830 72.6 -6.9 104 921 0.00 2.08 0.00 0.000 1030 0.000 0.026 2523 2020 2863 2897 2830 0 0 0 0 0 0 28.83 26.46 28.83

1040 -0.52 -146.6 2522 2020 2897 2830 82.4 -8.7 117 1050 0.00 2.17 0.00 0.000 260 0.000 0.044 2513 3429 2863 2897 2829 0 0 0 0 0 0 28.83 26.42 28.83

1127 -0.52 -146.6 2513 3429 2897 2829 89.9 -8.6 125 1139 0.00 2.12 0.00 0.000 1030 0.000 0.026 2514 2019 2863 2898 2829 0 0 0 0 0 0 28.83 26.49 28.83

1258 -0.52 -146.6 2513 2019 2898 2829 101.0 -8.2 138 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1376 -0.52 -146.6 2513 2019 2898 2829 109.7 -6.7 150 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1496 -0.52 -146.6 2513 2019 2898 2829 119.2 -8.1 162 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1616 -0.52 -146.6 2513 2019 2898 2829 128.3 -6.8 174 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1737 -0.52 -146.6 2513 2019 2898 2829 135.8 -6.7 186 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1857 -0.52 -146.6 2513 2019 2898 2829 144.3 -7.2 198 1858 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2019 2863 2898 2829 0 0 0 0 0 0 28.83 28.83 28.83

1935 end dive: TARGET_DEPTH_EXCEEDED

state 1935 begin apogee

1939 -0.23 0.0 2513 2019 2898 2829 150.2 -7.8 206 2051 0.32 0.00 107.90 0.617 10246 0.093 0.000 2628 2019 2261 2366 2157 0 0 0 0 0 0 26.48 28.83 24.76

2052 end apogee: CONTROL_FINISHED_OK

state 2052 begin climb

2053 0.52 146.6 2627 2019 2366 2157 153.4 0.0 217 2174 0.65 2.33 112.28 0.601 10756 0.067 0.041 2864 643 1663 1803 1524 0 0 0 0 0 0 25.37 25.00 24.44

2248 0.52 161.9 2864 643 1801 1520 143.4 6.2 236 2269 0.00 2.17 12.60 0.546 9222 0.000 0.031 2864 2032 1601 1742 1461 0 0 0 0 0 0 28.83 25.56 24.83

2388 0.52 189.9 2864 2032 1742 1459 135.3 5.8 250 2418 0.00 0.00 23.08 0.571 8454 0.000 0.000 2864 2032 1486 1628 1345 0 0 0 0 0 0 28.83 28.83 24.96

2537 0.52 189.9 2864 2032 1627 1342 124.9 7.5 265 2547 0.00 2.20 0.00 0.000 260 0.000 0.042 2864 3434 1484 1627 1342 0 0 0 0 0 0 28.83 25.84 28.83

2571 0.52 189.9 2864 3433 1628 1342 122.4 7.6 268 2580 0.00 2.17 0.00 0.000 1030 0.000 0.028 2865 2033 1484 1627 1342 0 0 0 0 0 0 28.83 25.94 28.83

2700 0.52 189.9 2865 2033 1628 1341 112.4 7.6 281 2709 0.00 2.17 0.00 0.000 516 0.000 0.042 2865 634 1483 1627 1340 0 0 0 0 0 0 28.83 26.02 28.83

2762 0.52 189.9 2865 634 1626 1339 107.9 7.0 287 2772 0.00 2.12 0.00 0.000 1030 0.000 0.031 2865 2028 1483 1626 1340 0 0 0 0 0 0 28.83 26.12 28.83

2892 0.52 189.9 2865 2028 1626 1339 98.1 7.6 300 2902 0.00 2.17 0.00 0.000 260 0.000 0.042 2865 3429 1482 1626 1339 0 0 0 0 0 0 28.83 26.16 28.83

2945 0.52 189.9 2865 3429 1626 1339 94.4 7.1 305 2954 0.00 2.10 0.00 0.000 1030 0.000 0.028 2865 2022 1482 1626 1339 0 0 0 0 0 0 28.83 26.23 28.83

3075 0.52 239.3 2865 2022 1626 1339 87.3 5.1 318 3125 0.00 2.20 38.80 0.564 8708 0.000 0.041 2865 628 1285 1436 1135 0 0 0 0 0 0 28.83 25.77 25.22

3160 0.52 267.2 2865 628 1435 1132 82.7 5.8 326 3190 0.00 2.17 22.85 0.545 9222 0.000 0.031 2865 2014 1171 1324 1019 0 0 0 0 0 0 28.83 25.94 25.09

3308 0.52 300.0 2865 2014 1324 1016 74.0 5.6 341 3342 0.00 2.30 26.67 0.545 8452 0.000 0.042 2865 3424 1037 1194 881 0 0 0 0 0 0 28.83 25.63 25.06

3369 0.52 300.3 2865 3424 1194 881 69.9 6.7 347 3379 0.00 2.15 0.00 0.000 1030 0.000 0.028 2865 2020 1037 1194 881 0 0 0 0 0 0 28.83 25.77 28.83

3499 0.52 300.3 2865 2020 1194 877 59.8 7.6 360 3509 0.00 2.17 0.00 0.000 516 0.000 0.042 2865 631 1035 1194 877 0 0 0 0 0 0 28.83 25.93 28.83

3542 0.52 315.5 2865 631 1194 875 57.1 6.2 364 3563 0.00 2.15 13.00 0.510 9222 0.000 0.031 2865 2036 975 1134 816 0 0 0 0 0 0 28.83 26.03 25.27

3682 0.52 315.5 2865 2036 1134 815 45.4 8.9 378 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2036 974 1134 815 0 0 0 0 0 0 28.83 28.83 28.83

3802 0.52 315.5 2865 2036 1134 814 35.8 8.4 390 3803 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2036 973 1134 813 0 0 0 0 0 0 28.83 28.83 28.83

3922 0.52 315.5 2865 2036 1134 813 26.6 8.2 402 3931 0.00 2.17 0.00 0.000 516 0.000 0.041 2865 635 972 1133 812 0 0 0 0 0 0 28.83 26.17 28.83

3967 0.52 315.5 2865 635 1134 812 23.3 8.0 406 3975 0.00 2.15 0.00 0.000 1030 0.000 0.031 2865 2026 973 1134 812 0 0 0 0 0 0 28.83 26.24 28.83

4095 0.52 315.5 1792 2024 1124 811 14.2 6.7 427 4103 0.00 2.20 0.00 0.000 260 0.000 0.042 2866 3423 973 1134 812 0 0 0 0 0 0 28.83 26.26 28.83

4160 0.52 315.5 1792 3421 1124 811 9.6 7.0 439 4168 0.00 2.12 0.00 0.000 1030 0.000 0.028 2865 2024 973 1134 812 0 0 0 0 0 0 28.83 26.33 28.83

4230 0.52 316.9 1792 2022 1124 811 5.0 6.6 452 4237 0.00 2.17 0.00 0.000 516 0.000 0.041 2865 638 973 1134 812 0 0 0 0 0 0 28.83 26.29 28.83

4269 0.52 319.3 1792 638 1124 810 2.5 6.6 459 4278 0.00 2.15 1.33 0.057 9222 0.000 0.032 2865 2031 959 1121 797 0 0 0 0 0 0 28.83 26.36 26.29

4283 end climb: SURFACE_DEPTH_REACHED

state 4283 begin surface coast

4315 end surface coast: CONTROL_FINISHED_OK

state 4315 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	19	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	49	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	-3060.2808	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	231013,130545,4744.007,-12224.594,12,1.1,12,16.3	TGT_NAME	NORTH
_CALLS	5	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.048,0.215
_SM_DEPTHo	0.47	KALMAN_X	-541.6,-250.4,-13.7,241.8,-209.3
_SM_ANGLEo	-61.8	KALMAN_Y	-1034.8,825.7,-278.5,-96.4,-897.6
GPS2	231013,131857,4743.950,-12224.599,12,1.0,13,16.3	MHEAD_RNG_PITCHd_Wd	356.4,1026,-11.5,-6.667,-16.81,3244
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	-0.6,1.022605	_24V_AH	24.4,1.871
SM_CCo	4388,0.00,0.000,0,0,959,319.63	_10V_AH	10.3,1.842
SM_GC	0.28,6.93,0.00,0.00,0.031,0.000,0.000,177,2031,959,-7.76,0.17,319.63,0,0,0,0,0,0,26.39,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12227.78,231013,131348	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323120
HUMID	41.92	DATA_FILE_SIZE	30395,467
INTERNAL_PRESSURE	8.9567	CAP_FILE_SIZE	81134,0
TCM_TEMP	14.90	CFSIZE	2097872896,2092957696
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.6,19.8	INTR	0,2540.04,0x235906,1,24
ALTIM_BOTTOM_PING	135.1,54.1	GPS	231013,143404,4743.985,-12224.447,26,0.9,26,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	203	82.67	SBE_CT	311	22	170.82
Roll_motor	69	44	74.89	AA4330	617	11	169.14
VBD_pump_during_apogee	358	616	5393.56	WL_BB2FLVMT	1003	105	2571.58
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	546	80	1070.66	nil	0	0	0.00
Transponder_ping	3	420	38.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	30	4.50
TT8	1115	15	174.76
LPSleep	1762	2	39.76
TT8_Active	419	15	65.76
TT8_Sampling	1834	43	825.11
TT8_CF8	62	53	34.12
TT8_Kalman	33	69	23.65
Analog_circuits	1598	14	230.52
GPS_charging	0	0	0.00
Compass	1276	8	108.38
RAFOS	0	0	0.00
Transponder	25	30	7.95

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	182	2027	1068	758	0.0	0.0	0	95	0.00	0.00	-73.70	0.000	16390	0.000	0.000	182	2028	2860	2872	2848	0	0	0	0	0	0	28.83	28.83	26.46
97	-0.52	-146.6	182	2028	2872	2848	3.5	-7.3	12	112	8.62	2.17	0.00	0.000	2308	0.203	0.037	2515	3429	2862	2883	2842	0	0	0	0	0	0	25.86	26.11	28.83
179	-0.52	-146.6	1504	3428	2862	2828	15.3	-8.9	27	186	0.00	2.15	0.00	0.000	1030	0.000	0.027	2516	2014	2863	2894	2832	0	0	0	0	0	0	28.83	26.22	28.83
249	-0.52	-146.6	2515	2014	2894	2832	20.9	-7.8	39	258	0.00	2.12	0.00	0.000	516	0.000	0.040	2516	634	2863	2894	2832	0	0	0	0	0	0	28.83	26.18	28.83
291	-0.52	-146.6	2515	634	2894	2832	24.1	-7.7	43	300	0.00	2.12	0.00	0.000	1030	0.000	0.033	2507	2028	2863	2894	2832	0	0	0	0	0	0	28.83	26.25	28.83
421	-0.52	-146.6	2507	2028	2895	2832	34.7	-8.5	56	430	0.00	2.17	0.00	0.000	260	0.000	0.044	2497	3432	2862	2894	2831	0	0	0	0	0	0	28.83	26.27	28.83
453	-0.52	-146.6	2497	3432	2895	2831	37.8	-9.6	59	463	0.12	2.10	0.00	0.000	3078	0.125	0.027	2534	2011	2863	2896	2831	0	0	0	0	0	0	26.21	26.33	28.83
583	-0.52	-146.6	2533	2011	2896	2831	48.7	-8.2	72	593	0.00	2.10	0.00	0.000	516	0.000	0.040	2533	640	2863	2896	2831	0	0	0	0	0	0	28.83	26.32	28.83
656	-0.52	-146.6	2534	640	2897	2831	54.8	-8.3	79	666	0.00	2.10	0.00	0.000	1030	0.000	0.033	2528	2027	2863	2897	2830	0	0	0	0	0	0	28.83	26.37	28.83
786	-0.52	-146.6	2528	2027	2896	2830	64.4	-7.4	92	796	0.00	2.17	0.00	0.000	260	0.000	0.044	2523	3436	2863	2896	2830	0	0	0	0	0	0	28.83	26.37	28.83
912	-0.52	-146.6	2523	3436	2897	2830	72.6	-6.9	104	921	0.00	2.08	0.00	0.000	1030	0.000	0.026	2523	2020	2863	2897	2830	0	0	0	0	0	0	28.83	26.46	28.83
1040	-0.52	-146.6	2522	2020	2897	2830	82.4	-8.7	117	1050	0.00	2.17	0.00	0.000	260	0.000	0.044	2513	3429	2863	2897	2829	0	0	0	0	0	0	28.83	26.42	28.83
1127	-0.52	-146.6	2513	3429	2897	2829	89.9	-8.6	125	1139	0.00	2.12	0.00	0.000	1030	0.000	0.026	2514	2019	2863	2898	2829	0	0	0	0	0	0	28.83	26.49	28.83
1258	-0.52	-146.6	2513	2019	2898	2829	101.0	-8.2	138	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1376	-0.52	-146.6	2513	2019	2898	2829	109.7	-6.7	150	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1496	-0.52	-146.6	2513	2019	2898	2829	119.2	-8.1	162	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1616	-0.52	-146.6	2513	2019	2898	2829	128.3	-6.8	174	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1737	-0.52	-146.6	2513	2019	2898	2829	135.8	-6.7	186	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1857	-0.52	-146.6	2513	2019	2898	2829	144.3	-7.2	198	1858	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2019	2863	2898	2829	0	0	0	0	0	0	28.83	28.83	28.83
1935	end dive: TARGET_DEPTH_EXCEEDED
state	1935	begin apogee
1939	-0.23	0.0	2513	2019	2898	2829	150.2	-7.8	206	2051	0.32	0.00	107.90	0.617	10246	0.093	0.000	2628	2019	2261	2366	2157	0	0	0	0	0	0	26.48	28.83	24.76
2052	end apogee: CONTROL_FINISHED_OK
state	2052	begin climb
2053	0.52	146.6	2627	2019	2366	2157	153.4	0.0	217	2174	0.65	2.33	112.28	0.601	10756	0.067	0.041	2864	643	1663	1803	1524	0	0	0	0	0	0	25.37	25.00	24.44
2248	0.52	161.9	2864	643	1801	1520	143.4	6.2	236	2269	0.00	2.17	12.60	0.546	9222	0.000	0.031	2864	2032	1601	1742	1461	0	0	0	0	0	0	28.83	25.56	24.83
2388	0.52	189.9	2864	2032	1742	1459	135.3	5.8	250	2418	0.00	0.00	23.08	0.571	8454	0.000	0.000	2864	2032	1486	1628	1345	0	0	0	0	0	0	28.83	28.83	24.96
2537	0.52	189.9	2864	2032	1627	1342	124.9	7.5	265	2547	0.00	2.20	0.00	0.000	260	0.000	0.042	2864	3434	1484	1627	1342	0	0	0	0	0	0	28.83	25.84	28.83
2571	0.52	189.9	2864	3433	1628	1342	122.4	7.6	268	2580	0.00	2.17	0.00	0.000	1030	0.000	0.028	2865	2033	1484	1627	1342	0	0	0	0	0	0	28.83	25.94	28.83
2700	0.52	189.9	2865	2033	1628	1341	112.4	7.6	281	2709	0.00	2.17	0.00	0.000	516	0.000	0.042	2865	634	1483	1627	1340	0	0	0	0	0	0	28.83	26.02	28.83
2762	0.52	189.9	2865	634	1626	1339	107.9	7.0	287	2772	0.00	2.12	0.00	0.000	1030	0.000	0.031	2865	2028	1483	1626	1340	0	0	0	0	0	0	28.83	26.12	28.83
2892	0.52	189.9	2865	2028	1626	1339	98.1	7.6	300	2902	0.00	2.17	0.00	0.000	260	0.000	0.042	2865	3429	1482	1626	1339	0	0	0	0	0	0	28.83	26.16	28.83
2945	0.52	189.9	2865	3429	1626	1339	94.4	7.1	305	2954	0.00	2.10	0.00	0.000	1030	0.000	0.028	2865	2022	1482	1626	1339	0	0	0	0	0	0	28.83	26.23	28.83
3075	0.52	239.3	2865	2022	1626	1339	87.3	5.1	318	3125	0.00	2.20	38.80	0.564	8708	0.000	0.041	2865	628	1285	1436	1135	0	0	0	0	0	0	28.83	25.77	25.22
3160	0.52	267.2	2865	628	1435	1132	82.7	5.8	326	3190	0.00	2.17	22.85	0.545	9222	0.000	0.031	2865	2014	1171	1324	1019	0	0	0	0	0	0	28.83	25.94	25.09
3308	0.52	300.0	2865	2014	1324	1016	74.0	5.6	341	3342	0.00	2.30	26.67	0.545	8452	0.000	0.042	2865	3424	1037	1194	881	0	0	0	0	0	0	28.83	25.63	25.06
3369	0.52	300.3	2865	3424	1194	881	69.9	6.7	347	3379	0.00	2.15	0.00	0.000	1030	0.000	0.028	2865	2020	1037	1194	881	0	0	0	0	0	0	28.83	25.77	28.83
3499	0.52	300.3	2865	2020	1194	877	59.8	7.6	360	3509	0.00	2.17	0.00	0.000	516	0.000	0.042	2865	631	1035	1194	877	0	0	0	0	0	0	28.83	25.93	28.83
3542	0.52	315.5	2865	631	1194	875	57.1	6.2	364	3563	0.00	2.15	13.00	0.510	9222	0.000	0.031	2865	2036	975	1134	816	0	0	0	0	0	0	28.83	26.03	25.27
3682	0.52	315.5	2865	2036	1134	815	45.4	8.9	378	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2036	974	1134	815	0	0	0	0	0	0	28.83	28.83	28.83
3802	0.52	315.5	2865	2036	1134	814	35.8	8.4	390	3803	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2036	973	1134	813	0	0	0	0	0	0	28.83	28.83	28.83
3922	0.52	315.5	2865	2036	1134	813	26.6	8.2	402	3931	0.00	2.17	0.00	0.000	516	0.000	0.041	2865	635	972	1133	812	0	0	0	0	0	0	28.83	26.17	28.83
3967	0.52	315.5	2865	635	1134	812	23.3	8.0	406	3975	0.00	2.15	0.00	0.000	1030	0.000	0.031	2865	2026	973	1134	812	0	0	0	0	0	0	28.83	26.24	28.83
4095	0.52	315.5	1792	2024	1124	811	14.2	6.7	427	4103	0.00	2.20	0.00	0.000	260	0.000	0.042	2866	3423	973	1134	812	0	0	0	0	0	0	28.83	26.26	28.83
4160	0.52	315.5	1792	3421	1124	811	9.6	7.0	439	4168	0.00	2.12	0.00	0.000	1030	0.000	0.028	2865	2024	973	1134	812	0	0	0	0	0	0	28.83	26.33	28.83
4230	0.52	316.9	1792	2022	1124	811	5.0	6.6	452	4237	0.00	2.17	0.00	0.000	516	0.000	0.041	2865	638	973	1134	812	0	0	0	0	0	0	28.83	26.29	28.83
4269	0.52	319.3	1792	638	1124	810	2.5	6.6	459	4278	0.00	2.15	1.33	0.057	9222	0.000	0.032	2865	2031	959	1121	797	0	0	0	0	0	0	28.83	26.36	26.29
4283	end climb: SURFACE_DEPTH_REACHED
state	4283	begin surface coast
4315	end surface coast: CONTROL_FINISHED_OK
state	4315	begin surface