Glider dive log

Shilshole 22Oct13 * SG195 * Dive index * Mission links * Dive 20 * 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 20 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 48 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 250 R_STBD_OVSHOOT 39 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 -3061.5391 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 -3061.5391

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 48 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 39 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 20 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 231013,143404,4743.985,-12224.447,26,0.9,26,16.3 TGT_NAME SOUTH

_CALLS 2 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.019,-0.220

_SM_DEPTHo 0.42 KALMAN_X -525.8,-303.5,-92.0,461.5,-70.6

_SM_ANGLEo -62.3 KALMAN_Y -1487.0,749.0,-728.5,870.7,-761.3

GPS2 231013,144140,4743.950,-12224.513,4,0.9,4,16.3 MHEAD_RNG_PITCHd_Wd 158.6,1759,-11.5,-6.667,-16.81,3243

SPEED_LIMITS 0.079,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.1,1.022691 _24V_AH 24.4,1.930

SM_CCo 4185,1.08,0.056,0,0,1240,250.21 _10V_AH 10.4,1.911

SM_GC 0.93,6.85,2.15,1.08,0.025,0.030,0.056,182,2032,1240,-7.75,-1.13,250.21,0,0,0,0,0,0,26.49,26.48,26.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12216.25,231013,141408 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323120

HUMID 41.84 DATA_FILE_SIZE 30251,450

INTERNAL_PRESSURE 8.97623 CAP_FILE_SIZE 77647,0

TCM_TEMP 14.20 CFSIZE 2097872896,2092859392

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

ALTIM_TOP_PING 19.5,19.5 GPS 231013,155304,4743.040,-12224.651,2,1.3,2,16.3

ALTIM_BOTTOM_PING 135.3,53.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 203 81.93 SBE_CT 300 22 164.90

Roll_motor 69 44 74.70 AA4330 595 11 163.04

VBD_pump_during_apogee 300 615 4512.35 WL_BB2FLVMT 967 105 2478.05

VBD_pump_during_surface 1 55 1.46 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 354 78 675.04 nil 0 0 0.00

Transponder_ping 3 420 38.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 30 1.76

TT8 1092 15 172.75

LPSleep 1551 2 35.33

TT8_Active 389 15 61.54

TT8_Sampling 1561 43 709.10

TT8_CF8 66 53 36.70

TT8_Kalman 33 69 23.89

Analog_circuits 1330 14 193.77

GPS_charging 0 0 0.00

Compass 1209 8 103.65

RAFOS 0 0 0.00

Transponder 25 30 8.03

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 -146.6 176 2032 1110 802 0.0 0.0 0 89 0.00 0.00 -71.75 0.000 16390 0.000 0.000 176 2032 2861 2873 2849 0 0 0 0 0 0 28.83 28.83 26.50

91 -0.52 -146.6 176 2032 2874 2850 2.9 -6.3 11 106 8.60 2.17 0.00 0.000 2564 0.203 0.035 2516 625 2864 2884 2844 0 0 0 0 0 0 25.91 26.14 28.83

335 -0.52 -146.6 2517 625 2893 2837 27.6 -8.4 50 345 0.00 2.12 0.00 0.000 1030 0.000 0.034 2513 2031 2865 2895 2835 0 0 0 0 0 0 28.83 26.29 28.83

465 -0.52 -146.6 2513 2031 2896 2834 37.1 -6.9 63 466 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2031 2865 2896 2834 0 0 0 0 0 0 28.83 28.83 28.83

585 -0.52 -146.6 2513 2030 2897 2834 45.4 -6.8 75 595 0.00 2.15 0.00 0.000 516 0.000 0.040 2514 628 2865 2897 2833 0 0 0 0 0 0 28.83 26.34 28.83

617 -0.52 -146.6 2513 628 2897 2834 47.7 -7.4 78 627 0.00 2.12 0.00 0.000 1030 0.000 0.034 2514 2036 2865 2897 2833 0 0 0 0 0 0 28.83 26.39 28.83

747 -0.52 -146.6 2513 2036 2897 2833 58.2 -8.3 91 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2036 2864 2897 2832 0 0 0 0 0 0 28.83 28.83 28.83

867 -0.52 -146.6 2513 2036 2897 2833 68.4 -8.4 103 869 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2036 2865 2898 2833 0 0 0 0 0 0 28.83 28.83 28.83

988 -0.52 -146.6 2513 2036 2898 2832 76.4 -6.4 115 997 0.00 2.15 0.00 0.000 516 0.000 0.040 2513 630 2865 2897 2833 0 0 0 0 0 0 28.83 26.43 28.83

1030 -0.52 -146.6 2513 630 2897 2833 79.6 -7.3 119 1034 0.00 2.12 0.00 0.000 1030 0.000 0.034 2514 2034 2865 2897 2833 0 0 0 0 0 0 28.83 26.48 28.83

1162 -0.52 -146.6 2513 2034 2898 2832 89.5 -7.8 132 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2034 2865 2898 2832 0 0 0 0 0 0 28.83 28.83 28.83

1282 -0.52 -146.6 2513 2034 2898 2832 97.2 -6.6 144 1283 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2034 2865 2898 2833 0 0 0 0 0 0 28.83 28.83 28.83

1402 -0.52 -146.6 2513 2033 2899 2832 105.8 -5.9 156 1403 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2033 2865 2899 2832 0 0 0 0 0 0 28.83 28.83 28.83

1522 -0.52 -146.6 2513 2033 2899 2831 113.9 -7.3 168 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2033 2865 2899 2832 0 0 0 0 0 0 28.83 28.83 28.83

1641 -0.52 -146.6 2513 2033 2899 2832 122.6 -8.9 180 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2033 2865 2899 2832 0 0 0 0 0 0 28.83 28.83 28.83

1761 -0.52 -146.6 2513 2032 2899 2832 132.1 -7.3 192 1771 0.00 2.15 0.00 0.000 260 0.000 0.044 2509 3435 2865 2900 2831 0 0 0 0 0 0 28.83 26.52 28.83

1830 -0.52 -146.6 2509 3435 2900 2831 135.9 -4.7 198 1838 0.00 2.12 0.00 0.000 1030 0.000 0.027 2509 2024 2865 2900 2831 0 0 0 0 0 0 28.83 26.58 28.83

1958 -0.52 -146.6 2508 2023 2900 2831 145.4 -7.1 211 1968 0.00 2.15 0.00 0.000 260 0.000 0.044 2498 3425 2865 2900 2830 0 0 0 0 0 0 28.83 26.54 28.83

2000 -0.52 -146.6 2498 3425 2900 2830 148.5 -7.1 215 2011 0.12 2.08 0.00 0.000 3078 0.126 0.028 2535 2017 2865 2900 2831 0 0 0 0 0 0 26.48 26.59 28.83

2019 end dive: TARGET_DEPTH_EXCEEDED

state 2019 begin apogee

2023 -0.23 0.0 2535 2017 2900 2831 150.0 -6.6 217 2135 0.25 0.00 108.18 0.616 10246 0.089 0.000 2630 2017 2261 2366 2157 0 0 0 0 0 0 26.51 28.83 24.76

2136 end apogee: CONTROL_FINISHED_OK

state 2136 begin climb

2138 0.52 146.6 2630 2017 2366 2157 152.5 0.0 228 2258 0.68 2.33 112.53 0.605 10500 0.067 0.042 2868 3423 1663 1803 1524 0 0 0 0 0 0 25.37 25.01 24.43

2302 0.52 179.0 2868 3423 1803 1524 147.6 5.6 244 2333 0.00 2.17 25.98 0.582 9222 0.000 0.028 2878 2022 1531 1671 1391 0 0 0 0 0 0 28.83 25.44 24.63

2452 0.52 179.0 2878 2022 1671 1387 136.3 8.5 259 2461 0.00 2.20 0.00 0.000 516 0.000 0.043 2879 632 1528 1670 1386 0 0 0 0 0 0 28.83 25.69 28.83

2504 0.52 179.0 2878 632 1669 1386 132.6 7.4 264 2514 0.00 2.15 0.00 0.000 1030 0.000 0.031 2879 2023 1527 1669 1386 0 0 0 0 0 0 28.83 25.84 28.83

2634 0.52 220.7 2878 2023 1669 1386 122.7 5.4 277 2676 0.00 2.25 32.83 0.579 8452 0.000 0.042 2878 3432 1361 1508 1215 0 0 0 0 0 0 28.83 25.58 25.01

2719 0.52 245.7 2878 3432 1508 1215 118.2 5.9 285 2750 0.00 2.17 20.80 0.564 9222 0.000 0.028 2879 2016 1259 1410 1109 0 0 0 0 0 0 28.83 25.79 24.96

2869 0.52 245.7 2878 2016 1410 1104 108.4 7.6 300 2878 0.00 2.17 0.00 0.000 516 0.000 0.042 2879 631 1257 1410 1104 0 0 0 0 0 0 28.83 25.84 28.83

2911 0.52 245.7 2878 631 1409 1102 105.4 7.1 304 2921 0.00 2.15 0.00 0.000 1030 0.000 0.031 2879 2031 1255 1409 1102 0 0 0 0 0 0 28.83 25.94 28.83

3041 0.52 245.7 2878 2031 1409 1102 95.2 7.8 317 3051 0.00 2.17 0.00 0.000 260 0.000 0.042 2878 3427 1255 1409 1102 0 0 0 0 0 0 28.83 26.04 28.83

3073 0.52 245.7 2878 3427 1409 1102 92.6 8.1 320 3083 0.00 2.12 0.00 0.000 1030 0.000 0.028 2879 2022 1255 1409 1102 0 0 0 0 0 0 28.83 26.10 28.83

3204 0.52 245.7 2878 2022 1409 1101 82.1 8.2 333 3213 0.00 2.15 0.00 0.000 516 0.000 0.041 2879 634 1255 1409 1101 0 0 0 0 0 0 28.83 26.14 28.83

3270 0.52 245.7 2878 633 1409 1100 77.2 7.4 339 3277 0.00 2.15 0.00 0.000 1030 0.000 0.031 2879 2016 1254 1409 1100 0 0 0 0 0 0 28.83 26.22 28.83

3397 0.52 245.7 2878 2016 1409 1100 67.2 8.5 352 3406 0.00 2.20 0.00 0.000 260 0.000 0.042 2878 3439 1254 1409 1100 0 0 0 0 0 0 28.83 26.25 28.83

3421 0.52 245.7 2878 3439 1409 1100 65.2 8.8 354 3429 0.00 2.15 0.00 0.000 1030 0.000 0.028 2879 2026 1254 1409 1100 0 0 0 0 0 0 28.83 26.29 28.83

3549 0.52 245.7 2879 2025 1409 1100 52.5 9.5 367 3559 0.00 2.17 0.00 0.000 260 0.000 0.042 2879 3433 1254 1409 1100 0 0 0 0 0 0 28.83 26.29 28.83

3591 0.52 245.7 2878 3433 1409 1100 48.3 10.0 371 3595 0.00 2.10 0.00 0.000 1030 0.000 0.028 2879 2022 1254 1409 1100 0 0 0 0 0 0 28.83 26.35 28.83

3722 0.52 245.7 2878 2021 1409 1100 36.6 9.1 384 3732 0.00 2.12 0.00 0.000 516 0.000 0.041 2879 635 1254 1409 1100 0 0 0 0 0 0 28.83 26.34 28.83

3755 0.52 245.7 2879 635 1409 1100 33.9 8.7 387 3764 0.00 2.10 0.00 0.000 1030 0.000 0.031 2879 2035 1254 1409 1100 0 0 0 0 0 0 28.83 26.39 28.83

3885 0.52 245.7 2878 2035 1409 1100 22.4 9.0 400 3895 0.00 2.15 0.00 0.000 260 0.000 0.042 2879 3434 1254 1409 1100 0 0 0 0 0 0 28.83 26.39 28.83

3924 0.52 245.7 2878 3434 1409 1100 18.7 9.5 404 3931 0.00 2.12 0.00 0.000 1030 0.000 0.028 2879 2028 1254 1409 1099 0 0 0 0 0 0 28.83 26.44 28.83

3993 0.52 245.7 1792 2026 1391 1098 13.1 7.6 417 4000 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 2028 1254 1409 1100 0 0 0 0 0 0 28.83 28.83 28.83

4062 0.52 245.7 1792 2026 1391 1098 7.9 6.9 430 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 2028 1254 1409 1100 0 0 0 0 0 0 28.83 28.83 28.83

4131 0.52 245.7 1792 2026 1391 1098 2.8 7.2 443 4138 0.00 2.17 0.00 0.000 516 0.000 0.042 2879 637 1254 1409 1100 0 0 0 0 0 0 28.83 26.42 28.83

4144 end climb: SURFACE_DEPTH_REACHED

state 4144 begin surface coast

4171 end surface coast: CONTROL_FINISHED_OK

state 4171 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	20	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	48	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	250	R_STBD_OVSHOOT	39	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	-3061.5391	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	231013,143404,4743.985,-12224.447,26,0.9,26,16.3	TGT_NAME	SOUTH
_CALLS	2	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.019,-0.220
_SM_DEPTHo	0.42	KALMAN_X	-525.8,-303.5,-92.0,461.5,-70.6
_SM_ANGLEo	-62.3	KALMAN_Y	-1487.0,749.0,-728.5,870.7,-761.3
GPS2	231013,144140,4743.950,-12224.513,4,0.9,4,16.3	MHEAD_RNG_PITCHd_Wd	158.6,1759,-11.5,-6.667,-16.81,3243
SPEED_LIMITS	0.079,0.221	D_GRID	150

FINISH	0.1,1.022691	_24V_AH	24.4,1.930
SM_CCo	4185,1.08,0.056,0,0,1240,250.21	_10V_AH	10.4,1.911
SM_GC	0.93,6.85,2.15,1.08,0.025,0.030,0.056,182,2032,1240,-7.75,-1.13,250.21,0,0,0,0,0,0,26.49,26.48,26.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12216.25,231013,141408	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323120
HUMID	41.84	DATA_FILE_SIZE	30251,450
INTERNAL_PRESSURE	8.97623	CAP_FILE_SIZE	77647,0
TCM_TEMP	14.20	CFSIZE	2097872896,2092859392
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.5,19.5	GPS	231013,155304,4743.040,-12224.651,2,1.3,2,16.3
ALTIM_BOTTOM_PING	135.3,53.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	203	81.93	SBE_CT	300	22	164.90
Roll_motor	69	44	74.70	AA4330	595	11	163.04
VBD_pump_during_apogee	300	615	4512.35	WL_BB2FLVMT	967	105	2478.05
VBD_pump_during_surface	1	55	1.46	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	354	78	675.04	nil	0	0	0.00
Transponder_ping	3	420	38.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	30	1.76
TT8	1092	15	172.75
LPSleep	1551	2	35.33
TT8_Active	389	15	61.54
TT8_Sampling	1561	43	709.10
TT8_CF8	66	53	36.70
TT8_Kalman	33	69	23.89
Analog_circuits	1330	14	193.77
GPS_charging	0	0	0.00
Compass	1209	8	103.65
RAFOS	0	0	0.00
Transponder	25	30	8.03

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	176	2032	1110	802	0.0	0.0	0	89	0.00	0.00	-71.75	0.000	16390	0.000	0.000	176	2032	2861	2873	2849	0	0	0	0	0	0	28.83	28.83	26.50
91	-0.52	-146.6	176	2032	2874	2850	2.9	-6.3	11	106	8.60	2.17	0.00	0.000	2564	0.203	0.035	2516	625	2864	2884	2844	0	0	0	0	0	0	25.91	26.14	28.83
335	-0.52	-146.6	2517	625	2893	2837	27.6	-8.4	50	345	0.00	2.12	0.00	0.000	1030	0.000	0.034	2513	2031	2865	2895	2835	0	0	0	0	0	0	28.83	26.29	28.83
465	-0.52	-146.6	2513	2031	2896	2834	37.1	-6.9	63	466	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2031	2865	2896	2834	0	0	0	0	0	0	28.83	28.83	28.83
585	-0.52	-146.6	2513	2030	2897	2834	45.4	-6.8	75	595	0.00	2.15	0.00	0.000	516	0.000	0.040	2514	628	2865	2897	2833	0	0	0	0	0	0	28.83	26.34	28.83
617	-0.52	-146.6	2513	628	2897	2834	47.7	-7.4	78	627	0.00	2.12	0.00	0.000	1030	0.000	0.034	2514	2036	2865	2897	2833	0	0	0	0	0	0	28.83	26.39	28.83
747	-0.52	-146.6	2513	2036	2897	2833	58.2	-8.3	91	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2036	2864	2897	2832	0	0	0	0	0	0	28.83	28.83	28.83
867	-0.52	-146.6	2513	2036	2897	2833	68.4	-8.4	103	869	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2036	2865	2898	2833	0	0	0	0	0	0	28.83	28.83	28.83
988	-0.52	-146.6	2513	2036	2898	2832	76.4	-6.4	115	997	0.00	2.15	0.00	0.000	516	0.000	0.040	2513	630	2865	2897	2833	0	0	0	0	0	0	28.83	26.43	28.83
1030	-0.52	-146.6	2513	630	2897	2833	79.6	-7.3	119	1034	0.00	2.12	0.00	0.000	1030	0.000	0.034	2514	2034	2865	2897	2833	0	0	0	0	0	0	28.83	26.48	28.83
1162	-0.52	-146.6	2513	2034	2898	2832	89.5	-7.8	132	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2034	2865	2898	2832	0	0	0	0	0	0	28.83	28.83	28.83
1282	-0.52	-146.6	2513	2034	2898	2832	97.2	-6.6	144	1283	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2034	2865	2898	2833	0	0	0	0	0	0	28.83	28.83	28.83
1402	-0.52	-146.6	2513	2033	2899	2832	105.8	-5.9	156	1403	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2033	2865	2899	2832	0	0	0	0	0	0	28.83	28.83	28.83
1522	-0.52	-146.6	2513	2033	2899	2831	113.9	-7.3	168	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2033	2865	2899	2832	0	0	0	0	0	0	28.83	28.83	28.83
1641	-0.52	-146.6	2513	2033	2899	2832	122.6	-8.9	180	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2033	2865	2899	2832	0	0	0	0	0	0	28.83	28.83	28.83
1761	-0.52	-146.6	2513	2032	2899	2832	132.1	-7.3	192	1771	0.00	2.15	0.00	0.000	260	0.000	0.044	2509	3435	2865	2900	2831	0	0	0	0	0	0	28.83	26.52	28.83
1830	-0.52	-146.6	2509	3435	2900	2831	135.9	-4.7	198	1838	0.00	2.12	0.00	0.000	1030	0.000	0.027	2509	2024	2865	2900	2831	0	0	0	0	0	0	28.83	26.58	28.83
1958	-0.52	-146.6	2508	2023	2900	2831	145.4	-7.1	211	1968	0.00	2.15	0.00	0.000	260	0.000	0.044	2498	3425	2865	2900	2830	0	0	0	0	0	0	28.83	26.54	28.83
2000	-0.52	-146.6	2498	3425	2900	2830	148.5	-7.1	215	2011	0.12	2.08	0.00	0.000	3078	0.126	0.028	2535	2017	2865	2900	2831	0	0	0	0	0	0	26.48	26.59	28.83
2019	end dive: TARGET_DEPTH_EXCEEDED
state	2019	begin apogee
2023	-0.23	0.0	2535	2017	2900	2831	150.0	-6.6	217	2135	0.25	0.00	108.18	0.616	10246	0.089	0.000	2630	2017	2261	2366	2157	0	0	0	0	0	0	26.51	28.83	24.76
2136	end apogee: CONTROL_FINISHED_OK
state	2136	begin climb
2138	0.52	146.6	2630	2017	2366	2157	152.5	0.0	228	2258	0.68	2.33	112.53	0.605	10500	0.067	0.042	2868	3423	1663	1803	1524	0	0	0	0	0	0	25.37	25.01	24.43
2302	0.52	179.0	2868	3423	1803	1524	147.6	5.6	244	2333	0.00	2.17	25.98	0.582	9222	0.000	0.028	2878	2022	1531	1671	1391	0	0	0	0	0	0	28.83	25.44	24.63
2452	0.52	179.0	2878	2022	1671	1387	136.3	8.5	259	2461	0.00	2.20	0.00	0.000	516	0.000	0.043	2879	632	1528	1670	1386	0	0	0	0	0	0	28.83	25.69	28.83
2504	0.52	179.0	2878	632	1669	1386	132.6	7.4	264	2514	0.00	2.15	0.00	0.000	1030	0.000	0.031	2879	2023	1527	1669	1386	0	0	0	0	0	0	28.83	25.84	28.83
2634	0.52	220.7	2878	2023	1669	1386	122.7	5.4	277	2676	0.00	2.25	32.83	0.579	8452	0.000	0.042	2878	3432	1361	1508	1215	0	0	0	0	0	0	28.83	25.58	25.01
2719	0.52	245.7	2878	3432	1508	1215	118.2	5.9	285	2750	0.00	2.17	20.80	0.564	9222	0.000	0.028	2879	2016	1259	1410	1109	0	0	0	0	0	0	28.83	25.79	24.96
2869	0.52	245.7	2878	2016	1410	1104	108.4	7.6	300	2878	0.00	2.17	0.00	0.000	516	0.000	0.042	2879	631	1257	1410	1104	0	0	0	0	0	0	28.83	25.84	28.83
2911	0.52	245.7	2878	631	1409	1102	105.4	7.1	304	2921	0.00	2.15	0.00	0.000	1030	0.000	0.031	2879	2031	1255	1409	1102	0	0	0	0	0	0	28.83	25.94	28.83
3041	0.52	245.7	2878	2031	1409	1102	95.2	7.8	317	3051	0.00	2.17	0.00	0.000	260	0.000	0.042	2878	3427	1255	1409	1102	0	0	0	0	0	0	28.83	26.04	28.83
3073	0.52	245.7	2878	3427	1409	1102	92.6	8.1	320	3083	0.00	2.12	0.00	0.000	1030	0.000	0.028	2879	2022	1255	1409	1102	0	0	0	0	0	0	28.83	26.10	28.83
3204	0.52	245.7	2878	2022	1409	1101	82.1	8.2	333	3213	0.00	2.15	0.00	0.000	516	0.000	0.041	2879	634	1255	1409	1101	0	0	0	0	0	0	28.83	26.14	28.83
3270	0.52	245.7	2878	633	1409	1100	77.2	7.4	339	3277	0.00	2.15	0.00	0.000	1030	0.000	0.031	2879	2016	1254	1409	1100	0	0	0	0	0	0	28.83	26.22	28.83
3397	0.52	245.7	2878	2016	1409	1100	67.2	8.5	352	3406	0.00	2.20	0.00	0.000	260	0.000	0.042	2878	3439	1254	1409	1100	0	0	0	0	0	0	28.83	26.25	28.83
3421	0.52	245.7	2878	3439	1409	1100	65.2	8.8	354	3429	0.00	2.15	0.00	0.000	1030	0.000	0.028	2879	2026	1254	1409	1100	0	0	0	0	0	0	28.83	26.29	28.83
3549	0.52	245.7	2879	2025	1409	1100	52.5	9.5	367	3559	0.00	2.17	0.00	0.000	260	0.000	0.042	2879	3433	1254	1409	1100	0	0	0	0	0	0	28.83	26.29	28.83
3591	0.52	245.7	2878	3433	1409	1100	48.3	10.0	371	3595	0.00	2.10	0.00	0.000	1030	0.000	0.028	2879	2022	1254	1409	1100	0	0	0	0	0	0	28.83	26.35	28.83
3722	0.52	245.7	2878	2021	1409	1100	36.6	9.1	384	3732	0.00	2.12	0.00	0.000	516	0.000	0.041	2879	635	1254	1409	1100	0	0	0	0	0	0	28.83	26.34	28.83
3755	0.52	245.7	2879	635	1409	1100	33.9	8.7	387	3764	0.00	2.10	0.00	0.000	1030	0.000	0.031	2879	2035	1254	1409	1100	0	0	0	0	0	0	28.83	26.39	28.83
3885	0.52	245.7	2878	2035	1409	1100	22.4	9.0	400	3895	0.00	2.15	0.00	0.000	260	0.000	0.042	2879	3434	1254	1409	1100	0	0	0	0	0	0	28.83	26.39	28.83
3924	0.52	245.7	2878	3434	1409	1100	18.7	9.5	404	3931	0.00	2.12	0.00	0.000	1030	0.000	0.028	2879	2028	1254	1409	1099	0	0	0	0	0	0	28.83	26.44	28.83
3993	0.52	245.7	1792	2026	1391	1098	13.1	7.6	417	4000	0.00	0.00	0.00	0.000	6	0.000	0.000	2879	2028	1254	1409	1100	0	0	0	0	0	0	28.83	28.83	28.83
4062	0.52	245.7	1792	2026	1391	1098	7.9	6.9	430	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	2879	2028	1254	1409	1100	0	0	0	0	0	0	28.83	28.83	28.83
4131	0.52	245.7	1792	2026	1391	1098	2.8	7.2	443	4138	0.00	2.17	0.00	0.000	516	0.000	0.042	2879	637	1254	1409	1100	0	0	0	0	0	0	28.83	26.42	28.83
4144	end climb: SURFACE_DEPTH_REACHED
state	4144	begin surface coast
4171	end surface coast: CONTROL_FINISHED_OK
state	4171	begin surface