Glider dive log

Shilshole 25Apr18 * SG038 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.013 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

MISSION 12 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 5 HEADING -1 C_ROLL_DIVE 2251 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 5 ESCAPE_HEADING 0 C_ROLL_CLIMB 2251 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 2

D_TGT 150 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 30 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 360 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 200 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 1950 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 50 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00059000001 DEVICE5 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 150 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3330 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 350 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043154242

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062410574

GLIDE_SLOPE 15 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.302181e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 2.4339581e-06

RHO 1.023 PITCH_GAIN 17 PHONE_SUPPLY 2 SEABIRD_C_G -9.7676115

MASS 80313 PITCH_TIMEOUT 20 PRESSURE_YINT -21.153936 SEABIRD_C_H 1.1309991

MASS_COMP 11240.1 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018490348

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021460596

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2943.3999

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 150 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0.02 SM_CC 360

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 17 SURFACE_URGENCY 0

ALTIM_PING_DELTA 2 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 15 PITCH_VBD_SHIFT 0.00059000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 120

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -21.153936 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 50

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_GPS -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3330 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2251 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2251 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 1950 MASS 80313 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 11240.1 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 350 ROLL_MIN 150 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 39 VBD_MAX 3900

DEVICE5 -1 MISSION 12 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7676115 VBD_MIN 200

DIVE 5 NAV_MODE 2 SEABIRD_C_H 1.1309991 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0018490348 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 5 SEABIRD_C_J 0.00021460596 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2943.3999 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043154242 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00062410574 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.302181e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.4339581e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 250418,235755,4742.7520,-12225.0195,8,1.0,16,16.3,0.0,0.0,9,4.7 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.88 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -72.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 260418,000113,4742.7334,-12225.0244,5,1.0,18,16.3,0.0,0.0,9,4.9 MHEAD_RNG_PITCHd_Wd 353.6,3336,-11.5,-10.000,-15.00,6699

SPEED_LIMITS 0.373,0.373 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.2,1.015226 _10V_AH 10.26,11.534

SM_CCo 3515,0.00,0.000,0,0,192,510.97 FG_AHR_24Vo 0.000

SM_GC 1.69,9.25,0.00,0.00,0.072,0.000,0.000,164,2248,192,-9.82,-0.08,510.97,0,0,0,0,0,0,26.08,26.59,26.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4742.17,-12225.08,250418,235223 MEM 312644

TT8_MAMPS 0.02247,0.200732 DATA_FILE_SIZE 28075,377

HUMID 31.37 CAP_FILE_SIZE 104846,0

INTERNAL_PRESSURE 7.43071 CFSIZE 2047311872,2039873536

TCM_TEMP 10.70 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 3 INTR 1,2812.60,0x2139ee,1,24

ALTIM_TOP_PING 18.9,18.5 CURRENT 0.087,40.90,1

ALTIM_BOTTOM_PING 100.1,0.0 GPS 260418,010125,4743.457,-12224.795,8,0.9,35,16.3,0.2,0.0,9,4.3

_24V_AH 23.49,19.089

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 163.63 SBE_CT 249 23 135.91

Roll_motor 45 106 113.05 AA4330 498 13 157.82

VBD_pump_during_apogee 702 923 15238.99 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 228 144 773.84 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.43

TT8 854 15 135.68

LPSleep 1146 2 25.76

TT8_Active 804 15 127.67

TT8_Sampling 745 41 318.79

TT8_CF8 39 64 25.73

TT8_Kalman 0 0 0.00

Analog_circuits 1322 10 135.70

GPS_charging 0 0 0.00

Compass 703 8 59.50

RAFOS 0 0 0.00

Transponder 7 30 2.17

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.88 -342.1 166 2262 707 700 0.0 0.0 0 125 0.00 0.00 -114.88 0.144 16386 0.000 0.000 166 2262 1531 1570 1492 0 0 0 0 0 0 26.17 28.83 26.19 7.54 31.57

128 -0.88 -342.1 166 2261 1570 1492 3.0 -1.9 18 260 12.43 0.00 -113.88 0.144 19206 0.293 0.000 3047 2262 3128 3146 3110 0 0 0 0 0 0 25.05 25.48 25.29 7.62 30.94

323 -0.76 -342.1 3047 2262 3140 3109 24.7 -15.1 47 325 0.12 0.00 0.00 0.000 2054 0.199 0.000 3086 2262 3125 3141 3109 0 0 0 0 0 0 25.56 25.72 25.66 7.74 29.72

443 -0.69 -342.1 3086 2262 3138 3105 41.4 -14.8 59 444 0.00 0.00 0.00 0.000 6 0.000 0.000 3086 2262 3121 3138 3105 0 0 0 0 0 0 26.32 26.33 26.33 7.74 30.27

563 -0.63 -342.1 3086 2262 3137 3103 57.7 -13.6 71 565 0.12 0.00 0.00 0.000 2054 0.189 0.000 3128 2262 3120 3137 3103 0 0 0 0 0 0 25.79 25.92 25.87 7.74 31.05

682 -0.63 -342.1 3127 2262 3136 3102 71.2 -11.4 83 692 0.00 2.60 0.00 0.000 260 0.000 0.102 3117 3839 3119 3137 3101 0 0 0 0 0 0 26.46 25.55 26.46 7.74 30.98

724 -0.63 -342.1 3117 3839 3136 3101 76.2 -12.3 87 734 0.00 2.53 0.00 0.000 1030 0.000 0.074 3117 2231 3118 3136 3101 0 0 0 0 0 0 25.99 25.89 26.03 7.74 30.42

854 -0.63 -342.1 3117 2230 3135 3100 91.5 -11.2 100 859 0.00 2.45 0.00 0.000 516 0.000 0.087 3117 685 3117 3135 3100 0 0 0 0 0 0 26.51 25.65 26.52 7.74 31.21

929 -0.63 -342.1 3117 684 3134 3100 100.1 -12.1 107 933 0.00 2.47 0.00 0.000 1030 0.000 0.079 3107 2281 3117 3134 3100 0 0 0 0 0 0 25.86 25.70 25.91 7.74 30.74

1181 -0.63 -342.1 3106 2281 3134 3099 131.2 -10.9 132 1185 0.00 2.53 0.00 0.000 260 0.000 0.102 3095 3832 3116 3134 3099 0 0 0 0 0 0 26.58 25.59 26.60 7.73 31.09

1285 -0.63 -342.1 3094 3832 3134 3096 142.9 -11.9 142 1294 0.12 2.47 0.00 0.000 3078 0.176 0.072 3137 2241 3115 3134 3096 0 0 0 0 0 0 25.63 25.96 25.76 7.73 30.94

1351 end dive: TARGET_DEPTH_EXCEEDED

state 1351 begin apogee

1355 -0.29 0.0 3137 2240 3134 3096 150.6 -10.7 149 1613 0.30 0.00 248.80 0.924 10246 0.146 0.000 3242 2239 1950 1975 1925 0 0 0 0 0 0 25.66 24.21 23.68 7.73 30.98

1615 end apogee: CONTROL_FINISHED_OK

state 1615 begin climb

1616 0.88 342.1 3242 2239 1974 1925 164.6 0.0 175 1927 1.00 2.58 297.95 0.894 10756 0.139 0.087 3580 691 769 770 769 0 0 0 0 0 0 24.66 24.29 23.49 7.64 30.03

1966 1.16 612.6 3579 691 764 766 150.8 5.9 210 2130 0.22 2.53 155.60 0.869 11270 0.102 0.077 3683 2256 200 189 212 0 0 0 0 0 0 24.44 24.95 23.59 7.54 29.56

2379 1.16 612.6 3682 2256 185 203 109.9 10.0 251 2388 0.00 2.53 0.00 0.000 260 0.000 0.102 3683 3827 194 185 203 0 0 0 0 0 0 26.14 25.65 26.15 7.47 30.58

2524 1.16 612.6 3682 3827 185 202 94.1 10.5 265 2532 0.00 2.50 0.00 0.000 1030 0.000 0.077 3692 2249 193 185 202 0 0 0 0 0 0 25.94 25.89 25.96 7.47 30.66

2652 1.16 612.6 3692 2248 184 202 80.8 9.7 278 2662 0.00 2.47 0.00 0.000 516 0.000 0.089 3703 680 193 184 202 0 0 0 0 0 0 26.38 25.82 26.39 7.47 30.50

2677 1.16 612.6 3702 680 184 201 78.4 10.2 280 2686 0.00 2.45 0.00 0.000 1030 0.000 0.082 3703 2262 192 184 201 0 0 0 0 0 0 26.00 25.84 26.06 7.47 31.37

2805 1.16 612.6 3702 2261 184 201 64.5 11.4 293 2814 0.00 2.53 0.00 0.000 260 0.000 0.107 3703 3828 192 184 201 0 0 0 0 0 0 26.44 25.82 26.46 7.47 30.74

2839 1.16 612.6 3702 3828 184 201 60.7 11.7 296 2848 0.00 2.50 0.00 0.000 1030 0.000 0.074 3711 2250 192 184 201 0 0 0 0 0 0 26.03 25.98 26.08 7.47 30.74

2967 1.16 612.6 3711 2248 184 200 45.0 11.9 309 2968 0.00 0.00 0.00 0.000 6 0.000 0.000 3712 2249 192 184 201 0 0 0 0 0 0 26.49 26.51 26.51 7.47 30.78

3087 1.16 612.6 3711 2248 184 201 30.9 11.9 321 3088 0.00 0.00 0.00 0.000 6 0.000 0.000 3712 2248 192 184 200 0 0 0 0 0 0 26.52 26.54 26.53 7.47 31.41

3209 1.16 612.6 3711 2248 183 201 16.9 10.5 335 3216 0.00 2.60 0.00 0.000 260 0.000 0.104 3712 3837 192 184 201 0 0 0 0 0 0 26.55 25.84 26.56 7.46 31.13

3248 1.16 612.6 3711 3837 184 201 12.3 11.9 342 3255 0.00 2.47 0.00 0.000 1030 0.000 0.077 3716 2242 192 184 201 0 0 0 0 0 0 26.14 26.01 26.19 7.46 30.94

3318 1.22 612.6 3715 2241 184 201 6.2 8.5 355 3325 0.00 2.45 0.00 0.000 516 0.000 0.089 3716 671 192 184 201 0 0 0 0 0 0 26.56 25.86 26.57 7.46 30.90

3388 1.54 860.4 3716 671 184 201 2.0 6.2 368 3396 0.20 2.42 0.00 0.000 3078 0.104 0.079 3804 2248 192 183 201 0 0 0 0 0 0 26.01 25.91 26.12 7.46 31.45

3401 end climb: SURFACE_DEPTH_REACHED

state 3401 begin surface coast

3439 end surface coast: CONTROL_FINISHED_OK

state 3439 begin surface

ID	38	HD_B	0.013	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0
MISSION	12	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	5	HEADING	-1	C_ROLL_DIVE	2251	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	5	ESCAPE_HEADING	0	C_ROLL_CLIMB	2251	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	2
D_TGT	150	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	30	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	360	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	200	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	1950	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	50	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00059000001	DEVICE5	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	150	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3330	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	350	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043154242
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062410574
GLIDE_SLOPE	15	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.302181e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	2.4339581e-06
RHO	1.023	PITCH_GAIN	17	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7676115
MASS	80313	PITCH_TIMEOUT	20	PRESSURE_YINT	-21.153936	SEABIRD_C_H	1.1309991
MASS_COMP	11240.1	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018490348
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021460596
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2943.3999
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	150	COMPASS_USE	4

GPS1	250418,235755,4742.7520,-12225.0195,8,1.0,16,16.3,0.0,0.0,9,4.7	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.88	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-72.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	260418,000113,4742.7334,-12225.0244,5,1.0,18,16.3,0.0,0.0,9,4.9	MHEAD_RNG_PITCHd_Wd	353.6,3336,-11.5,-10.000,-15.00,6699
SPEED_LIMITS	0.373,0.373	D_GRID	186

FINISH	0.2,1.015226	_10V_AH	10.26,11.534
SM_CCo	3515,0.00,0.000,0,0,192,510.97	FG_AHR_24Vo	0.000
SM_GC	1.69,9.25,0.00,0.00,0.072,0.000,0.000,164,2248,192,-9.82,-0.08,510.97,0,0,0,0,0,0,26.08,26.59,26.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4742.17,-12225.08,250418,235223	MEM	312644
TT8_MAMPS	0.02247,0.200732	DATA_FILE_SIZE	28075,377
HUMID	31.37	CAP_FILE_SIZE	104846,0
INTERNAL_PRESSURE	7.43071	CFSIZE	2047311872,2039873536
TCM_TEMP	10.70	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	INTR	1,2812.60,0x2139ee,1,24
ALTIM_TOP_PING	18.9,18.5	CURRENT	0.087,40.90,1
ALTIM_BOTTOM_PING	100.1,0.0	GPS	260418,010125,4743.457,-12224.795,8,0.9,35,16.3,0.2,0.0,9,4.3
_24V_AH	23.49,19.089

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	163.63	SBE_CT	249	23	135.91
Roll_motor	45	106	113.05	AA4330	498	13	157.82
VBD_pump_during_apogee	702	923	15238.99	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	228	144	773.84	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.43
TT8	854	15	135.68
LPSleep	1146	2	25.76
TT8_Active	804	15	127.67
TT8_Sampling	745	41	318.79
TT8_CF8	39	64	25.73
TT8_Kalman	0	0	0.00
Analog_circuits	1322	10	135.70
GPS_charging	0	0	0.00
Compass	703	8	59.50
RAFOS	0	0	0.00
Transponder	7	30	2.17

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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.88	-342.1	166	2262	707	700	0.0	0.0	0	125	0.00	0.00	-114.88	0.144	16386	0.000	0.000	166	2262	1531	1570	1492	0	0	0	0	0	0	26.17	28.83	26.19	7.54	31.57
128	-0.88	-342.1	166	2261	1570	1492	3.0	-1.9	18	260	12.43	0.00	-113.88	0.144	19206	0.293	0.000	3047	2262	3128	3146	3110	0	0	0	0	0	0	25.05	25.48	25.29	7.62	30.94
323	-0.76	-342.1	3047	2262	3140	3109	24.7	-15.1	47	325	0.12	0.00	0.00	0.000	2054	0.199	0.000	3086	2262	3125	3141	3109	0	0	0	0	0	0	25.56	25.72	25.66	7.74	29.72
443	-0.69	-342.1	3086	2262	3138	3105	41.4	-14.8	59	444	0.00	0.00	0.00	0.000	6	0.000	0.000	3086	2262	3121	3138	3105	0	0	0	0	0	0	26.32	26.33	26.33	7.74	30.27
563	-0.63	-342.1	3086	2262	3137	3103	57.7	-13.6	71	565	0.12	0.00	0.00	0.000	2054	0.189	0.000	3128	2262	3120	3137	3103	0	0	0	0	0	0	25.79	25.92	25.87	7.74	31.05
682	-0.63	-342.1	3127	2262	3136	3102	71.2	-11.4	83	692	0.00	2.60	0.00	0.000	260	0.000	0.102	3117	3839	3119	3137	3101	0	0	0	0	0	0	26.46	25.55	26.46	7.74	30.98
724	-0.63	-342.1	3117	3839	3136	3101	76.2	-12.3	87	734	0.00	2.53	0.00	0.000	1030	0.000	0.074	3117	2231	3118	3136	3101	0	0	0	0	0	0	25.99	25.89	26.03	7.74	30.42
854	-0.63	-342.1	3117	2230	3135	3100	91.5	-11.2	100	859	0.00	2.45	0.00	0.000	516	0.000	0.087	3117	685	3117	3135	3100	0	0	0	0	0	0	26.51	25.65	26.52	7.74	31.21
929	-0.63	-342.1	3117	684	3134	3100	100.1	-12.1	107	933	0.00	2.47	0.00	0.000	1030	0.000	0.079	3107	2281	3117	3134	3100	0	0	0	0	0	0	25.86	25.70	25.91	7.74	30.74
1181	-0.63	-342.1	3106	2281	3134	3099	131.2	-10.9	132	1185	0.00	2.53	0.00	0.000	260	0.000	0.102	3095	3832	3116	3134	3099	0	0	0	0	0	0	26.58	25.59	26.60	7.73	31.09
1285	-0.63	-342.1	3094	3832	3134	3096	142.9	-11.9	142	1294	0.12	2.47	0.00	0.000	3078	0.176	0.072	3137	2241	3115	3134	3096	0	0	0	0	0	0	25.63	25.96	25.76	7.73	30.94
1351	end dive: TARGET_DEPTH_EXCEEDED
state	1351	begin apogee
1355	-0.29	0.0	3137	2240	3134	3096	150.6	-10.7	149	1613	0.30	0.00	248.80	0.924	10246	0.146	0.000	3242	2239	1950	1975	1925	0	0	0	0	0	0	25.66	24.21	23.68	7.73	30.98
1615	end apogee: CONTROL_FINISHED_OK
state	1615	begin climb
1616	0.88	342.1	3242	2239	1974	1925	164.6	0.0	175	1927	1.00	2.58	297.95	0.894	10756	0.139	0.087	3580	691	769	770	769	0	0	0	0	0	0	24.66	24.29	23.49	7.64	30.03
1966	1.16	612.6	3579	691	764	766	150.8	5.9	210	2130	0.22	2.53	155.60	0.869	11270	0.102	0.077	3683	2256	200	189	212	0	0	0	0	0	0	24.44	24.95	23.59	7.54	29.56
2379	1.16	612.6	3682	2256	185	203	109.9	10.0	251	2388	0.00	2.53	0.00	0.000	260	0.000	0.102	3683	3827	194	185	203	0	0	0	0	0	0	26.14	25.65	26.15	7.47	30.58
2524	1.16	612.6	3682	3827	185	202	94.1	10.5	265	2532	0.00	2.50	0.00	0.000	1030	0.000	0.077	3692	2249	193	185	202	0	0	0	0	0	0	25.94	25.89	25.96	7.47	30.66
2652	1.16	612.6	3692	2248	184	202	80.8	9.7	278	2662	0.00	2.47	0.00	0.000	516	0.000	0.089	3703	680	193	184	202	0	0	0	0	0	0	26.38	25.82	26.39	7.47	30.50
2677	1.16	612.6	3702	680	184	201	78.4	10.2	280	2686	0.00	2.45	0.00	0.000	1030	0.000	0.082	3703	2262	192	184	201	0	0	0	0	0	0	26.00	25.84	26.06	7.47	31.37
2805	1.16	612.6	3702	2261	184	201	64.5	11.4	293	2814	0.00	2.53	0.00	0.000	260	0.000	0.107	3703	3828	192	184	201	0	0	0	0	0	0	26.44	25.82	26.46	7.47	30.74
2839	1.16	612.6	3702	3828	184	201	60.7	11.7	296	2848	0.00	2.50	0.00	0.000	1030	0.000	0.074	3711	2250	192	184	201	0	0	0	0	0	0	26.03	25.98	26.08	7.47	30.74
2967	1.16	612.6	3711	2248	184	200	45.0	11.9	309	2968	0.00	0.00	0.00	0.000	6	0.000	0.000	3712	2249	192	184	201	0	0	0	0	0	0	26.49	26.51	26.51	7.47	30.78
3087	1.16	612.6	3711	2248	184	201	30.9	11.9	321	3088	0.00	0.00	0.00	0.000	6	0.000	0.000	3712	2248	192	184	200	0	0	0	0	0	0	26.52	26.54	26.53	7.47	31.41
3209	1.16	612.6	3711	2248	183	201	16.9	10.5	335	3216	0.00	2.60	0.00	0.000	260	0.000	0.104	3712	3837	192	184	201	0	0	0	0	0	0	26.55	25.84	26.56	7.46	31.13
3248	1.16	612.6	3711	3837	184	201	12.3	11.9	342	3255	0.00	2.47	0.00	0.000	1030	0.000	0.077	3716	2242	192	184	201	0	0	0	0	0	0	26.14	26.01	26.19	7.46	30.94
3318	1.22	612.6	3715	2241	184	201	6.2	8.5	355	3325	0.00	2.45	0.00	0.000	516	0.000	0.089	3716	671	192	184	201	0	0	0	0	0	0	26.56	25.86	26.57	7.46	30.90
3388	1.54	860.4	3716	671	184	201	2.0	6.2	368	3396	0.20	2.42	0.00	0.000	3078	0.104	0.079	3804	2248	192	183	201	0	0	0	0	0	0	26.01	25.91	26.12	7.46	31.45
3401	end climb: SURFACE_DEPTH_REACHED
state	3401	begin surface coast
3439	end surface coast: CONTROL_FINISHED_OK
state	3439	begin surface