Glider dive log

Shilshole 14Jan14 * SG189 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 29 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING 90 C_ROLL_DIVE 2247 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2247 ALTIM_PING_DEPTH 75

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 100 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 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 -1

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 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2678 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 101

T_DIVE 90 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 110 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 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 -57108.336 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 1001 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 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2580 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -80.87886 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 29 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 1001 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 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 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 75 FERRY_MAX 45 PITCH_MAX 3928 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 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -80.87886 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -57108.336

CAPUPLOAD 1 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 110

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2580 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2247 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2247 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2678 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 35 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 29 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 13 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,083511,4743.226,-12224.290,19,0.8,19,16.6 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.036,0.221

_SM_DEPTHo 1.35 KALMAN_X -2510.2,291.9,-55.9,2805.0,-270.8

_SM_ANGLEo -73.0 KALMAN_Y 391.2,826.8,-118.7,-504.0,-298.3

GPS2 150114,084348,4743.125,-12224.325,21,1.4,22,16.6 MHEAD_RNG_PITCHd_Wd 352.7,2556,-11.4,-6.667,-16.61,3287

SPEED_LIMITS 0.067,0.223 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.022860 _24V_AH 23.4,2.634

SM_CCo 4017,38.53,0.147,0,0,1655,250.21 _10V_AH 10.2,2.542

SM_GC 1.84,6.95,2.25,38.53,0.045,0.032,0.147,151,2225,1655,-7.52,0.54,250.21,0,0,0,0,0,0,26.10,26.13,25.85 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12234.67,150114,070744 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 323264

HUMID 48.50 DATA_FILE_SIZE 26878,433

INTERNAL_PRESSURE 8.46325 CAP_FILE_SIZE 69911,0

TCM_TEMP 17.60 CFSIZE 260165632,253087744

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 19.5,18.7 GPS 150114,095334,4743.215,-12224.629,40,0.8,40,16.6

ALTIM_BOTTOM_PING 135.4,52.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 214 84.76 SBE_CT 296 24 166.27

Roll_motor 63 55 83.05 WL_BB2FLVMG 929 105 2284.93

VBD_pump_during_apogee 233 1126 6155.42 AA4330 668 33 516.39

VBD_pump_during_surface 38 146 132.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.87 nil 0 0 0.00

Iridium_during_connect 39 160 148.38 nil 0 0 0.00

Iridium_during_xfer 337 223 1763.01 nil 0 0 0.00

Transponder_ping 3 420 36.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 50 11.49

TT8 1035 19 209.10

LPSleep 1607 2 35.90

TT8_Active 420 19 84.91

TT8_Sampling 1386 39 562.92

TT8_CF8 130 45 61.17

TT8_Kalman 33 81 27.71

Analog_circuits 856 12 104.82

GPS_charging 0 0 0.00

Compass 741 15 113.41

RAFOS 0 0 0.00

Transponder 25 30 7.86

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 -0.57 -146.6 149 2220 1702 1585 0.0 0.0 0 50 0.00 0.00 -32.38 0.000 16386 0.000 0.000 149 2221 2591 2612 2571 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.57 -146.6 149 2221 2613 2571 2.1 -3.1 5 94 8.43 2.28 -21.02 0.000 18948 0.215 0.056 2388 803 3277 3338 3217 0 0 0 0 0 0 25.56 25.78 26.06

334 -0.57 -146.6 2388 803 3339 3217 25.6 -10.4 53 344 0.05 2.33 0.00 0.000 3078 0.197 0.036 2394 2265 3278 3340 3216 0 0 0 0 0 0 25.85 25.96 28.83

464 -0.57 -146.6 2394 2264 3340 3216 36.8 -8.6 66 465 0.00 0.00 0.00 0.000 2054 0.000 0.000 2394 2264 3278 3341 3216 0 0 0 0 0 0 28.83 28.83 28.83

584 -0.57 -146.6 2394 2264 3341 3216 46.9 -8.3 78 593 0.00 2.30 0.00 0.000 2564 0.000 0.042 2395 818 3277 3340 3215 0 0 0 0 0 0 28.83 26.06 28.83

644 -0.57 -146.6 2395 818 3341 3216 52.3 -9.0 84 653 0.00 2.30 0.00 0.000 3078 0.000 0.036 2386 2272 3278 3340 3216 0 0 0 0 0 0 28.83 26.08 28.83

774 -0.57 -146.6 2385 2271 3341 3215 62.8 -7.8 97 783 0.00 2.22 0.00 0.000 2308 0.000 0.045 2375 3666 3278 3341 3215 0 0 0 0 0 0 28.83 26.10 28.83

833 -0.57 -146.6 2375 3666 3341 3215 67.5 -8.0 103 844 0.08 2.25 0.00 0.000 3078 0.156 0.030 2400 2208 3278 3341 3215 0 0 0 0 0 0 26.03 26.14 28.83

965 -0.57 -146.6 2400 2206 3341 3215 75.4 -6.0 116 973 0.00 2.17 0.00 0.000 4612 0.000 0.041 2401 823 3277 3341 3214 0 0 0 0 0 0 28.83 26.17 28.83

1004 -0.57 -146.6 2400 823 3341 3215 78.0 -6.7 120 1013 0.00 2.28 0.00 0.000 3078 0.000 0.036 2392 2269 3278 3342 3215 0 0 0 0 0 0 28.83 26.17 28.83

1134 -0.57 -146.6 2392 2269 3341 3215 87.0 -7.3 133 1135 0.00 0.00 0.00 0.000 2054 0.000 0.000 2392 2269 3278 3342 3215 0 0 0 0 0 0 28.83 28.83 28.83

1254 -0.57 -146.6 2391 2269 3342 3215 96.5 -8.1 145 1255 0.00 0.00 0.00 0.000 2054 0.000 0.000 2392 2269 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1374 -0.57 -146.6 2391 2269 3341 3215 106.5 -8.4 157 1375 0.00 0.00 0.00 0.000 2054 0.000 0.000 2392 2269 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

1494 -0.57 -146.6 2392 2269 3341 3215 116.4 -8.0 169 1495 0.00 0.00 0.00 0.000 2054 0.000 0.000 2392 2269 3278 3342 3215 0 0 0 0 0 0 28.83 28.83 28.83

1614 -0.57 -146.6 2391 2269 3342 3215 125.9 -8.2 181 1615 0.00 0.00 0.00 0.000 2054 0.000 0.000 2392 2269 3278 3342 3215 0 0 0 0 0 0 28.83 28.83 28.83

1738 -0.57 -146.6 2391 2270 3341 3215 135.4 -8.1 193 1745 0.00 2.28 0.00 0.000 2564 0.000 0.043 2392 799 3278 3341 3215 0 0 0 0 0 0 28.83 26.28 28.83

1794 -0.57 -146.6 2391 798 3341 3215 140.2 -8.3 199 1804 0.05 2.30 0.00 0.000 3078 0.189 0.036 2398 2268 3277 3341 3214 0 0 0 0 0 0 26.20 26.29 28.83

1924 -0.57 -146.6 2398 2268 3341 3215 149.0 -6.3 212 1925 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2268 3278 3341 3215 0 0 0 0 0 0 28.83 28.83 28.83

2044 -0.57 -146.6 2398 2268 3341 3214 156.1 -5.7 224 2053 0.00 2.28 0.00 0.000 4612 0.000 0.042 2399 814 3278 3342 3214 0 0 0 0 0 0 28.83 26.32 28.83

2084 -0.57 -146.6 2398 814 3341 3215 158.5 -6.1 228 2093 0.00 2.25 0.00 0.000 3078 0.000 0.036 2390 2266 3278 3341 3215 0 0 0 0 0 0 28.83 26.33 28.83

2214 -0.57 -146.6 2390 2266 3341 3214 167.0 -6.7 241 2215 0.00 0.00 0.00 0.000 2054 0.000 0.000 2390 2266 3277 3341 3214 0 0 0 0 0 0 28.83 28.83 28.83

2334 -0.57 -146.6 2390 2265 3341 3214 175.0 -6.8 253 2343 0.00 2.25 0.00 0.000 2564 0.000 0.041 2390 823 3278 3342 3214 0 0 0 0 0 0 28.83 26.34 28.83

2382 end dive: BOTTOM_OBSTACLE_DETECTED

state 2382 begin apogee

2389 -0.17 0.0 2380 2267 3341 3214 178.5 -7.3 258 2506 0.40 0.00 113.22 1.126 10246 0.119 0.000 2522 2267 2678 2763 2593 0 0 0 0 0 0 26.25 28.83 23.58

2507 end apogee: CONTROL_FINISHED_OK

state 2507 begin climb

2509 0.57 146.6 2522 2267 2765 2593 180.7 0.0 270 2634 0.70 0.00 120.38 1.102 10758 0.081 0.000 2763 2266 2079 2178 1980 0 0 0 0 0 0 24.43 28.83 23.40

2755 0.57 146.6 2763 2267 2175 1980 155.5 13.7 295 2763 0.00 2.38 0.00 0.000 4612 0.000 0.043 2774 830 2077 2175 1980 0 0 0 0 0 0 28.83 25.13 28.83

2834 0.57 146.6 2774 829 2173 1979 144.9 12.9 303 2843 0.00 2.33 0.00 0.000 5126 0.000 0.034 2774 2265 2076 2172 1980 0 0 0 0 0 0 28.83 25.36 28.83

2964 0.57 146.6 2774 2265 2172 1979 128.5 12.2 316 2973 0.00 2.28 0.00 0.000 4356 0.000 0.042 2774 3668 2075 2172 1979 0 0 0 0 0 0 28.83 25.56 28.83

3023 0.57 146.6 2774 3668 2171 1979 120.4 14.1 322 3034 0.08 2.30 0.00 0.000 5126 0.166 0.033 2762 2221 2075 2171 1979 0 0 0 0 0 0 25.53 25.63 28.83

3154 0.57 146.6 2762 2222 2171 1980 103.7 11.6 335 3155 0.00 0.00 0.00 0.000 2054 0.000 0.000 2763 2221 2075 2171 1979 0 0 0 0 0 0 28.83 28.83 28.83

3274 0.57 146.6 2762 2221 2170 1979 90.4 10.0 347 3283 0.00 2.25 0.00 0.000 2564 0.000 0.045 2772 818 2074 2170 1979 0 0 0 0 0 0 28.83 25.84 28.83

3314 0.57 146.6 2771 817 2169 1979 85.9 11.2 351 3323 0.00 2.28 0.00 0.000 5126 0.000 0.034 2772 2263 2074 2169 1979 0 0 0 0 0 0 28.83 25.88 28.83

3444 0.57 146.6 2772 2263 2169 1979 68.6 13.7 364 3453 0.00 2.22 0.00 0.000 4356 0.000 0.043 2772 3664 2074 2169 1979 0 0 0 0 0 0 28.83 25.91 28.83

3503 0.57 146.6 2771 3664 2169 1979 59.3 15.3 370 3514 0.08 2.25 0.00 0.000 5126 0.164 0.031 2759 2220 2074 2169 1979 0 0 0 0 0 0 25.86 25.96 28.83

3634 0.57 146.6 2758 2220 2169 1979 43.8 11.3 383 3643 0.00 2.25 0.00 0.000 2564 0.000 0.043 2768 812 2074 2169 1979 0 0 0 0 0 0 28.83 26.00 28.83

3704 0.57 146.6 2768 812 2168 1979 35.4 11.8 390 3713 0.00 2.30 0.00 0.000 5126 0.000 0.034 2768 2273 2073 2167 1979 0 0 0 0 0 0 28.83 26.05 28.83

3834 0.57 146.6 2767 2273 2168 1979 19.5 12.0 403 3842 0.00 2.28 0.00 0.000 4612 0.000 0.044 2778 819 2073 2168 1979 0 0 0 0 0 0 28.83 26.07 28.83

3879 0.57 146.6 2778 819 2167 1979 14.0 11.8 411 3888 0.05 2.25 0.00 0.000 5126 0.135 0.034 2761 2265 2073 2168 1979 0 0 0 0 0 0 25.99 26.10 28.83

3951 0.57 146.6 1736 2262 2113 1971 6.2 10.5 424 3958 0.00 2.22 0.00 0.000 2308 0.000 0.044 2761 3666 2073 2167 1979 0 0 0 0 0 0 28.83 26.09 28.83

3979 end climb: SURFACE_DEPTH_REACHED

state 3979 begin surface coast

4000 end surface coast: CONTROL_FINISHED_OK

state 4000 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	29	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING	90	C_ROLL_DIVE	2247	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2247	ALTIM_PING_DEPTH	75
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	100	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	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	-1
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	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2678	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	101
T_DIVE	90	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	110	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	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	-57108.336	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	1001	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	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2580	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-80.87886	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	29	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	20

GPS1	150114,083511,4743.226,-12224.290,19,0.8,19,16.6	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.036,0.221
_SM_DEPTHo	1.35	KALMAN_X	-2510.2,291.9,-55.9,2805.0,-270.8
_SM_ANGLEo	-73.0	KALMAN_Y	391.2,826.8,-118.7,-504.0,-298.3
GPS2	150114,084348,4743.125,-12224.325,21,1.4,22,16.6	MHEAD_RNG_PITCHd_Wd	352.7,2556,-11.4,-6.667,-16.61,3287
SPEED_LIMITS	0.067,0.223	D_GRID	180

FINISH	0.4,1.022860	_24V_AH	23.4,2.634
SM_CCo	4017,38.53,0.147,0,0,1655,250.21	_10V_AH	10.2,2.542
SM_GC	1.84,6.95,2.25,38.53,0.045,0.032,0.147,151,2225,1655,-7.52,0.54,250.21,0,0,0,0,0,0,26.10,26.13,25.85	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12234.67,150114,070744	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	323264
HUMID	48.50	DATA_FILE_SIZE	26878,433
INTERNAL_PRESSURE	8.46325	CAP_FILE_SIZE	69911,0
TCM_TEMP	17.60	CFSIZE	260165632,253087744
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.5,18.7	GPS	150114,095334,4743.215,-12224.629,40,0.8,40,16.6
ALTIM_BOTTOM_PING	135.4,52.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	214	84.76	SBE_CT	296	24	166.27
Roll_motor	63	55	83.05	WL_BB2FLVMG	929	105	2284.93
VBD_pump_during_apogee	233	1126	6155.42	AA4330	668	33	516.39
VBD_pump_during_surface	38	146	132.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.87	nil	0	0	0.00
Iridium_during_connect	39	160	148.38	nil	0	0	0.00
Iridium_during_xfer	337	223	1763.01	nil	0	0	0.00
Transponder_ping	3	420	36.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	50	11.49
TT8	1035	19	209.10
LPSleep	1607	2	35.90
TT8_Active	420	19	84.91
TT8_Sampling	1386	39	562.92
TT8_CF8	130	45	61.17
TT8_Kalman	33	81	27.71
Analog_circuits	856	12	104.82
GPS_charging	0	0	0.00
Compass	741	15	113.41
RAFOS	0	0	0.00
Transponder	25	30	7.86

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	-0.57	-146.6	149	2220	1702	1585	0.0	0.0	0	50	0.00	0.00	-32.38	0.000	16386	0.000	0.000	149	2221	2591	2612	2571	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.57	-146.6	149	2221	2613	2571	2.1	-3.1	5	94	8.43	2.28	-21.02	0.000	18948	0.215	0.056	2388	803	3277	3338	3217	0	0	0	0	0	0	25.56	25.78	26.06
334	-0.57	-146.6	2388	803	3339	3217	25.6	-10.4	53	344	0.05	2.33	0.00	0.000	3078	0.197	0.036	2394	2265	3278	3340	3216	0	0	0	0	0	0	25.85	25.96	28.83
464	-0.57	-146.6	2394	2264	3340	3216	36.8	-8.6	66	465	0.00	0.00	0.00	0.000	2054	0.000	0.000	2394	2264	3278	3341	3216	0	0	0	0	0	0	28.83	28.83	28.83
584	-0.57	-146.6	2394	2264	3341	3216	46.9	-8.3	78	593	0.00	2.30	0.00	0.000	2564	0.000	0.042	2395	818	3277	3340	3215	0	0	0	0	0	0	28.83	26.06	28.83
644	-0.57	-146.6	2395	818	3341	3216	52.3	-9.0	84	653	0.00	2.30	0.00	0.000	3078	0.000	0.036	2386	2272	3278	3340	3216	0	0	0	0	0	0	28.83	26.08	28.83
774	-0.57	-146.6	2385	2271	3341	3215	62.8	-7.8	97	783	0.00	2.22	0.00	0.000	2308	0.000	0.045	2375	3666	3278	3341	3215	0	0	0	0	0	0	28.83	26.10	28.83
833	-0.57	-146.6	2375	3666	3341	3215	67.5	-8.0	103	844	0.08	2.25	0.00	0.000	3078	0.156	0.030	2400	2208	3278	3341	3215	0	0	0	0	0	0	26.03	26.14	28.83
965	-0.57	-146.6	2400	2206	3341	3215	75.4	-6.0	116	973	0.00	2.17	0.00	0.000	4612	0.000	0.041	2401	823	3277	3341	3214	0	0	0	0	0	0	28.83	26.17	28.83
1004	-0.57	-146.6	2400	823	3341	3215	78.0	-6.7	120	1013	0.00	2.28	0.00	0.000	3078	0.000	0.036	2392	2269	3278	3342	3215	0	0	0	0	0	0	28.83	26.17	28.83
1134	-0.57	-146.6	2392	2269	3341	3215	87.0	-7.3	133	1135	0.00	0.00	0.00	0.000	2054	0.000	0.000	2392	2269	3278	3342	3215	0	0	0	0	0	0	28.83	28.83	28.83
1254	-0.57	-146.6	2391	2269	3342	3215	96.5	-8.1	145	1255	0.00	0.00	0.00	0.000	2054	0.000	0.000	2392	2269	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1374	-0.57	-146.6	2391	2269	3341	3215	106.5	-8.4	157	1375	0.00	0.00	0.00	0.000	2054	0.000	0.000	2392	2269	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
1494	-0.57	-146.6	2392	2269	3341	3215	116.4	-8.0	169	1495	0.00	0.00	0.00	0.000	2054	0.000	0.000	2392	2269	3278	3342	3215	0	0	0	0	0	0	28.83	28.83	28.83
1614	-0.57	-146.6	2391	2269	3342	3215	125.9	-8.2	181	1615	0.00	0.00	0.00	0.000	2054	0.000	0.000	2392	2269	3278	3342	3215	0	0	0	0	0	0	28.83	28.83	28.83
1738	-0.57	-146.6	2391	2270	3341	3215	135.4	-8.1	193	1745	0.00	2.28	0.00	0.000	2564	0.000	0.043	2392	799	3278	3341	3215	0	0	0	0	0	0	28.83	26.28	28.83
1794	-0.57	-146.6	2391	798	3341	3215	140.2	-8.3	199	1804	0.05	2.30	0.00	0.000	3078	0.189	0.036	2398	2268	3277	3341	3214	0	0	0	0	0	0	26.20	26.29	28.83
1924	-0.57	-146.6	2398	2268	3341	3215	149.0	-6.3	212	1925	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2268	3278	3341	3215	0	0	0	0	0	0	28.83	28.83	28.83
2044	-0.57	-146.6	2398	2268	3341	3214	156.1	-5.7	224	2053	0.00	2.28	0.00	0.000	4612	0.000	0.042	2399	814	3278	3342	3214	0	0	0	0	0	0	28.83	26.32	28.83
2084	-0.57	-146.6	2398	814	3341	3215	158.5	-6.1	228	2093	0.00	2.25	0.00	0.000	3078	0.000	0.036	2390	2266	3278	3341	3215	0	0	0	0	0	0	28.83	26.33	28.83
2214	-0.57	-146.6	2390	2266	3341	3214	167.0	-6.7	241	2215	0.00	0.00	0.00	0.000	2054	0.000	0.000	2390	2266	3277	3341	3214	0	0	0	0	0	0	28.83	28.83	28.83
2334	-0.57	-146.6	2390	2265	3341	3214	175.0	-6.8	253	2343	0.00	2.25	0.00	0.000	2564	0.000	0.041	2390	823	3278	3342	3214	0	0	0	0	0	0	28.83	26.34	28.83
2382	end dive: BOTTOM_OBSTACLE_DETECTED
state	2382	begin apogee
2389	-0.17	0.0	2380	2267	3341	3214	178.5	-7.3	258	2506	0.40	0.00	113.22	1.126	10246	0.119	0.000	2522	2267	2678	2763	2593	0	0	0	0	0	0	26.25	28.83	23.58
2507	end apogee: CONTROL_FINISHED_OK
state	2507	begin climb
2509	0.57	146.6	2522	2267	2765	2593	180.7	0.0	270	2634	0.70	0.00	120.38	1.102	10758	0.081	0.000	2763	2266	2079	2178	1980	0	0	0	0	0	0	24.43	28.83	23.40
2755	0.57	146.6	2763	2267	2175	1980	155.5	13.7	295	2763	0.00	2.38	0.00	0.000	4612	0.000	0.043	2774	830	2077	2175	1980	0	0	0	0	0	0	28.83	25.13	28.83
2834	0.57	146.6	2774	829	2173	1979	144.9	12.9	303	2843	0.00	2.33	0.00	0.000	5126	0.000	0.034	2774	2265	2076	2172	1980	0	0	0	0	0	0	28.83	25.36	28.83
2964	0.57	146.6	2774	2265	2172	1979	128.5	12.2	316	2973	0.00	2.28	0.00	0.000	4356	0.000	0.042	2774	3668	2075	2172	1979	0	0	0	0	0	0	28.83	25.56	28.83
3023	0.57	146.6	2774	3668	2171	1979	120.4	14.1	322	3034	0.08	2.30	0.00	0.000	5126	0.166	0.033	2762	2221	2075	2171	1979	0	0	0	0	0	0	25.53	25.63	28.83
3154	0.57	146.6	2762	2222	2171	1980	103.7	11.6	335	3155	0.00	0.00	0.00	0.000	2054	0.000	0.000	2763	2221	2075	2171	1979	0	0	0	0	0	0	28.83	28.83	28.83
3274	0.57	146.6	2762	2221	2170	1979	90.4	10.0	347	3283	0.00	2.25	0.00	0.000	2564	0.000	0.045	2772	818	2074	2170	1979	0	0	0	0	0	0	28.83	25.84	28.83
3314	0.57	146.6	2771	817	2169	1979	85.9	11.2	351	3323	0.00	2.28	0.00	0.000	5126	0.000	0.034	2772	2263	2074	2169	1979	0	0	0	0	0	0	28.83	25.88	28.83
3444	0.57	146.6	2772	2263	2169	1979	68.6	13.7	364	3453	0.00	2.22	0.00	0.000	4356	0.000	0.043	2772	3664	2074	2169	1979	0	0	0	0	0	0	28.83	25.91	28.83
3503	0.57	146.6	2771	3664	2169	1979	59.3	15.3	370	3514	0.08	2.25	0.00	0.000	5126	0.164	0.031	2759	2220	2074	2169	1979	0	0	0	0	0	0	25.86	25.96	28.83
3634	0.57	146.6	2758	2220	2169	1979	43.8	11.3	383	3643	0.00	2.25	0.00	0.000	2564	0.000	0.043	2768	812	2074	2169	1979	0	0	0	0	0	0	28.83	26.00	28.83
3704	0.57	146.6	2768	812	2168	1979	35.4	11.8	390	3713	0.00	2.30	0.00	0.000	5126	0.000	0.034	2768	2273	2073	2167	1979	0	0	0	0	0	0	28.83	26.05	28.83
3834	0.57	146.6	2767	2273	2168	1979	19.5	12.0	403	3842	0.00	2.28	0.00	0.000	4612	0.000	0.044	2778	819	2073	2168	1979	0	0	0	0	0	0	28.83	26.07	28.83
3879	0.57	146.6	2778	819	2167	1979	14.0	11.8	411	3888	0.05	2.25	0.00	0.000	5126	0.135	0.034	2761	2265	2073	2168	1979	0	0	0	0	0	0	25.99	26.10	28.83
3951	0.57	146.6	1736	2262	2113	1971	6.2	10.5	424	3958	0.00	2.22	0.00	0.000	2308	0.000	0.044	2761	3666	2073	2167	1979	0	0	0	0	0	0	28.83	26.09	28.83
3979	end climb: SURFACE_DEPTH_REACHED
state	3979	begin surface coast
4000	end surface coast: CONTROL_FINISHED_OK
state	4000	begin surface