Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HD_C 1.6100001e-05 ROLL_MIN 35 ALTIM_TOP_PING_RANGE 20

MISSION 21 HEADING -1 ROLL_MAX 3810 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1735 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1735 ALTIM_PING_DEPTH 50

D_FLARE 3 TGT_DEFAULT_LAT 47.724998 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -122.4 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 300 R_PORT_OVSHOOT 11 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 48 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 VBD_MIN 275 DEEPGLIDERMB 1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3970 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 3368 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_DIVE 80 CALL_TRIES 10 VBD_CNV -0.29519999 DEVICE3 -1

T_MISSION 90 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_ABORT 2880 CAPUPLOAD 0 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_NO_W 300 T_GPS 15 VBD_BLEED_AD_RATE 7 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_BATHY 0 T_GPS_CHARGE -989800.69 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_ICE 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

APOGEE_PITCH -5 PITCH_MIN 237 AH0_10V 100 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MAX 3815 MINV_24V 19 SIM_W 0

COURSE_BIAS 0 C_PITCH 2995 MINV_10V 8 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_G 0.0042701932

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_H 0.00061695499

RHO 1.023 P_OVSHOOT 0.026142744 PHONE_SUPPLY 2 SEABIRD_T_I 2.0597783e-05

MASS 76769 P_OVSHOOT_WITHG 0.089055829 PRESSURE_YINT -1038.2784 SEABIRD_T_J 1.9668842e-06

MASS_COMP 9469 PITCH_GAIN 24 PRESSURE_SLOPE 0.00092600001 SEABIRD_C_G -9.6408119

NAV_MODE 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.1092987

FERRY_MAX 45 PITCH_AD_RATE 140 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011480527

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016399958

HD_A 0.0047458 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_B 0.011518 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_W 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 4 PITCH_AD_RATE 140 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 FERRY_MAX 45 PITCH_MAX 3815 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 237 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 47.724998

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LON -122.4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_ABORT 2880

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_BOOST 0

CALL_NDIVES 1 HD_A 0.0047458 PRESSURE_SLOPE 0.00092600001 T_DIVE 80

CALL_TRIES 10 HD_B 0.011518 PRESSURE_YINT -1038.2784 T_EPIRB 0

CALL_WAIT 30 HD_C 1.6100001e-05 PROTOCOL 0 T_GPS 15

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.026142744 T_GPS_ALMANAC 0

CAPUPLOAD 0 HEAD_ERRBAND 15 P_OVSHOOT_WITHG 0.089055829 T_GPS_CHARGE -989800.69

CF8_MAXERRORS 2 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_LOITER 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_MISSION 90

COMPASS2_DEVICE -1 ID 35 RAFOS_HIT_WINDOW 3600 T_NO_W 300

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_USE 4 INT_PRESSURE_YINT 0 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 KALMAN_USE 1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2995 LOGGERDEVICE1 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 1735 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 1735 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 3368 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 LOGGERS 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 1 MASS 76769 ROLL_MAX 3810 VBD_BLEED_AD_RATE 7

DEEPGLIDERMB 1 MASS_COMP 9469 ROLL_MAXERRORS 1 VBD_CNV -0.29519999

DEVICE1 2 MAX_BUOY 150 ROLL_MIN 35 VBD_DBAND 2

DEVICE2 101 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MAX 3970

DEVICE3 -1 MINV_24V 19 R_PORT_OVSHOOT 11 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 48 VBD_MIN 275

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_G -9.6408119 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_H 1.1092987 VBD_PUMP_AD_RATE_SURFACE 2

DIVE 10 NOCOMM_ACTION 0 SEABIRD_C_I -0.0011480527 VBD_TIMEOUT 720

D_ABORT 1090 N_DIVES 0 SEABIRD_C_J 0.00016399958 W_ADJ_DBAND 0

D_BOOST 0 N_FILEKB 4 SEABIRD_T_G 0.0042701932 XPDR_DEVICE 24

D_CALL 0 N_GPS 20 SEABIRD_T_H 0.00061695499 XPDR_INHIBIT 90

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_I 2.0597783e-05 XPDR_VALID 6

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_J 1.9668842e-06

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070214,042454,4742.978,-12225.125,40,1.4,40,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.085,0.205

_SM_DEPTHo 1.30 KALMAN_X -249.3,262.5,-83.8,-662.1,-302.2

_SM_ANGLEo -70.5 KALMAN_Y 359.6,941.9,-360.6,-3243.5,-615.3

GPS2 070214,043006,4742.954,-12225.158,31,1.4,31,18.2 MHEAD_RNG_PITCHd_Wd 4.3,2978,-15.4,-7.500,-18.65,2965

SPEED_LIMITS 0.075,0.222 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.2,1.010026 _24V_AH 23.3,38.431

SM_CCo 4275,32.50,0.901,0,0,2351,300.22 _10V_AH 10.4,4.723

SM_GC 0.84,7.85,2.20,32.50,0.057,0.057,0.901,211,1768,2351,-8.61,1.44,300.22,0,0,0,0,0,0,25.87,25.86,24.43 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,070214,030345 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 354572

HUMID 39.95 DATA_FILE_SIZE 26922,463

INTERNAL_PRESSURE 8.47689 CAP_FILE_SIZE 76687,0

TCM_TEMP 17.60 CFSIZE 260165632,242466816

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

ALTIM_TOP_PING 19.4,19.3 GPS 070214,054403,4743.024,-12225.241,11,2.2,31,18.2

ALTIM_BOTTOM_PING 165.8,33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 250 115.11 SBE_CT 315 56 412.74

Roll_motor 66 72 110.73 AA4330 609 15 223.21

VBD_pump_during_apogee 287 1037 6961.66 nil 0 0 0.00

VBD_pump_during_surface 32 901 682.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 52 35.72 nil 0 0 0.00

Iridium_during_connect 41 160 154.32 nil 0 0 0.00

Iridium_during_xfer 130 223 678.83 nil 0 0 0.00

Transponder_ping 7 420 68.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 26 9.66

TT8 1099 9 114.05

LPSleep 1849 2 42.13

TT8_Active 476 9 49.43

TT8_Sampling 1104 31 364.03

TT8_CF8 102 39 42.59

TT8_Kalman 33 52 18.22

Analog_circuits 1011 11 115.74

GPS_charging 0 0 0.00

Compass 843 20 177.32

RAFOS 0 0 0.00

Transponder 41 30 13.10

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.64 -146.6 251 1720 2315 2388 0.0 0.0 0 116 0.00 0.00 -97.22 0.000 16386 0.000 0.000 251 1720 3501 3462 3540 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.64 -146.6 251 1720 3462 3541 3.4 -2.4 18 150 10.48 2.33 -14.95 0.000 18692 0.251 0.067 2775 3128 3866 3833 3900 0 0 0 0 0 0 24.86 25.38 25.30

247 -0.64 -146.6 2775 3129 3833 3900 19.0 -9.5 42 254 0.00 2.22 0.00 0.000 1030 0.000 0.060 2775 1703 3866 3833 3900 0 0 0 0 0 0 28.83 25.53 28.83

321 -0.64 -146.6 2775 1703 3833 3900 26.0 -10.1 50 322 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1703 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

441 -0.64 -146.6 2775 1703 3833 3900 37.2 -9.7 62 450 0.00 2.30 0.00 0.000 260 0.000 0.070 2771 3128 3867 3834 3900 0 0 0 0 0 0 28.83 25.58 28.83

542 -0.64 -146.6 2770 3128 3833 3900 45.8 -8.1 72 551 0.00 2.15 0.00 0.000 1030 0.000 0.060 2771 1726 3866 3833 3900 0 0 0 0 0 0 28.83 25.71 28.83

672 -0.64 -146.6 2770 1726 3833 3900 57.8 -9.7 85 681 0.00 2.17 0.00 0.000 516 0.000 0.072 2771 331 3866 3833 3900 0 0 0 0 0 0 28.83 25.65 28.83

733 -0.64 -146.6 2770 331 3833 3900 64.1 -10.6 91 742 0.00 2.12 0.00 0.000 1030 0.000 0.057 2770 1738 3866 3833 3900 0 0 0 0 0 0 28.83 25.78 28.83

863 -0.64 -146.6 2770 1738 3833 3900 76.4 -8.8 104 872 0.00 2.20 0.00 0.000 260 0.000 0.070 2768 3136 3866 3833 3899 0 0 0 0 0 0 28.83 25.70 28.83

905 -0.64 -146.6 2768 3137 3833 3900 80.2 -9.0 108 913 0.00 2.15 0.00 0.000 1030 0.000 0.060 2768 1730 3866 3833 3900 0 0 0 0 0 0 28.83 25.81 28.83

1034 -0.64 -146.6 2768 1730 3833 3900 92.1 -9.5 121 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1730 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1154 -0.64 -146.6 2768 1730 3833 3900 103.7 -9.6 133 1163 0.00 2.25 0.00 0.000 260 0.000 0.070 2767 3135 3866 3833 3900 0 0 0 0 0 0 28.83 25.75 28.83

1227 -0.64 -146.6 2766 3134 3833 3900 110.6 -8.9 140 1236 0.00 2.12 0.00 0.000 1030 0.000 0.060 2768 1740 3866 3833 3900 0 0 0 0 0 0 28.83 25.87 28.83

1355 -0.64 -146.6 2767 1740 3833 3899 122.9 -8.4 153 1364 0.00 2.22 0.00 0.000 260 0.000 0.072 2765 3133 3866 3833 3900 0 0 0 0 0 0 28.83 25.77 28.83

1469 -0.64 -146.6 2764 3134 3833 3900 133.0 -9.5 164 1478 0.00 2.10 0.00 0.000 1030 0.000 0.060 2765 1739 3866 3833 3900 0 0 0 0 0 0 28.83 25.89 28.83

1600 -0.64 -146.6 2764 1739 3833 3900 145.8 -9.2 177 1605 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 1739 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1728 -0.64 -146.6 2765 1739 3833 3900 159.4 -9.2 190 1737 0.00 2.20 0.00 0.000 260 0.000 0.070 2761 3133 3866 3833 3900 0 0 0 0 0 0 28.83 25.82 28.83

1806 -0.64 -146.6 2761 3133 3833 3899 167.1 -9.8 197 1813 0.00 2.12 0.00 0.000 1030 0.000 0.057 2761 1732 3866 3833 3900 0 0 0 0 0 0 28.83 25.93 28.83

1933 -0.64 -146.6 2761 1732 3833 3900 179.9 -9.3 210 1934 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 1732 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1942 end dive: TARGET_DEPTH_EXCEEDED

state 1942 begin apogee

1946 -0.21 0.0 2761 1732 3833 3900 180.6 -8.5 211 2054 0.50 0.00 102.53 1.038 10246 0.132 0.000 2928 1732 3368 3338 3398 0 0 0 0 0 0 25.53 28.83 23.68

2055 end apogee: CONTROL_FINISHED_OK

state 2055 begin climb

2057 0.64 146.6 2928 1732 3338 3398 185.3 0.0 222 2165 0.73 0.00 104.72 0.914 10502 0.097 0.000 3181 1732 2870 2845 2896 0 0 0 0 0 0 24.58 28.83 23.26

2285 0.64 161.4 3181 1732 2845 2897 172.1 7.0 245 2303 0.00 0.00 12.00 0.862 8198 0.000 0.000 3181 1732 2821 2794 2848 0 0 0 0 0 0 28.83 28.83 23.58

2423 0.64 221.4 3181 1732 2794 2848 163.0 5.4 259 2474 0.00 2.33 43.17 0.929 8452 0.000 0.070 3181 3129 2617 2594 2641 0 0 0 0 0 0 28.83 24.57 23.65

2519 0.64 227.8 3181 3129 2594 2641 157.2 7.3 268 2530 0.00 2.22 6.32 0.728 9222 0.000 0.057 3192 1735 2596 2576 2617 0 0 0 0 0 0 28.83 24.91 23.72

2651 0.64 227.8 3192 1735 2575 2617 144.8 9.8 281 2652 0.00 0.00 0.00 0.000 6 0.000 0.000 3192 1736 2596 2575 2617 0 0 0 0 0 0 28.83 28.83 28.83

2771 0.64 227.8 3191 1735 2575 2617 133.2 11.2 293 2780 0.00 2.25 0.00 0.000 260 0.000 0.070 3192 3132 2596 2576 2617 0 0 0 0 0 0 28.83 25.35 28.83

2834 0.64 227.8 3192 3132 2576 2617 128.1 8.6 299 2841 0.00 2.17 0.00 0.000 1030 0.000 0.057 3202 1734 2596 2575 2617 0 0 0 0 0 0 28.83 25.48 28.83

2962 0.64 242.9 3201 1734 2576 2617 119.4 7.0 312 2982 0.00 2.28 12.20 0.872 8452 0.000 0.072 3202 3134 2545 2525 2565 0 0 0 0 0 0 28.83 25.39 24.32

3055 0.64 242.9 3201 3134 2525 2565 112.8 8.6 321 3063 0.00 2.17 0.00 0.000 1030 0.000 0.060 3212 1732 2545 2525 2565 0 0 0 0 0 0 28.83 25.53 28.83

3185 0.64 242.9 3212 1732 2525 2565 100.3 9.8 334 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1732 2545 2525 2565 0 0 0 0 0 0 28.83 28.83 28.83

3305 0.64 242.9 3212 1732 2525 2565 87.9 10.4 346 3313 0.00 2.25 0.00 0.000 260 0.000 0.070 3212 3141 2545 2525 2565 0 0 0 0 0 0 28.83 25.63 28.83

3349 0.64 242.9 3212 3141 2525 2565 83.9 10.1 350 3355 0.00 2.17 0.00 0.000 1030 0.000 0.060 3221 1728 2545 2525 2565 0 0 0 0 0 0 28.83 25.72 28.83

3476 0.64 242.9 3221 1728 2525 2565 70.8 9.3 363 3484 0.00 2.17 0.00 0.000 516 0.000 0.072 3232 335 2545 2525 2565 0 0 0 0 0 0 28.83 25.68 28.83

3540 0.64 242.9 3232 335 2525 2565 64.4 11.0 369 3546 0.00 2.12 0.00 0.000 1030 0.000 0.057 3232 1744 2544 2524 2565 0 0 0 0 0 0 28.83 25.80 28.83

3666 0.64 242.9 3232 1745 2524 2565 50.1 10.5 382 3675 0.00 2.20 0.00 0.000 260 0.000 0.070 3232 3132 2545 2525 2565 0 0 0 0 0 0 28.83 25.74 28.83

3727 0.64 242.9 3232 3132 2524 2565 43.1 11.1 388 3736 0.15 2.15 0.00 0.000 5126 0.174 0.060 3202 1728 2545 2525 2565 0 0 0 0 0 0 25.55 25.84 28.83

3857 0.64 242.9 3201 1728 2525 2565 31.4 7.6 401 3859 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 1728 2544 2524 2565 0 0 0 0 0 0 28.83 28.83 28.83

3977 0.64 251.1 3201 1728 2524 2565 22.4 7.2 413 3990 0.00 2.25 6.93 0.747 8452 0.000 0.070 3201 3125 2517 2496 2539 0 0 0 0 0 0 28.83 25.82 24.65

4053 0.64 251.1 3201 3125 2496 2538 16.5 8.2 424 4059 0.00 2.12 0.00 0.000 1030 0.000 0.060 3212 1734 2517 2496 2539 0 0 0 0 0 0 28.83 25.84 28.83

4121 0.64 251.1 3212 1734 2496 2539 10.5 8.5 437 4127 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1734 2517 2496 2539 0 0 0 0 0 0 28.83 28.83 28.83

4188 0.64 251.1 3212 1734 2496 2539 4.6 8.6 450 4195 0.00 2.25 0.00 0.000 260 0.000 0.070 3212 3140 2517 2496 2538 0 0 0 0 0 0 28.83 25.79 28.83

4200 end climb: SURFACE_DEPTH_REACHED

state 4200 begin surface coast

4257 end surface coast: CONTROL_FINISHED_OK

state 4257 begin surface

ID	35	HD_C	1.6100001e-05	ROLL_MIN	35	ALTIM_TOP_PING_RANGE	20
MISSION	21	HEADING	-1	ROLL_MAX	3810	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1735	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1735	ALTIM_PING_DEPTH	50
D_FLARE	3	TGT_DEFAULT_LAT	47.724998	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-122.4	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	300	R_PORT_OVSHOOT	11	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	48	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	VBD_MIN	275	DEEPGLIDERMB	1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3970	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	3368	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_DIVE	80	CALL_TRIES	10	VBD_CNV	-0.29519999	DEVICE3	-1
T_MISSION	90	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_ABORT	2880	CAPUPLOAD	0	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_NO_W	300	T_GPS	15	VBD_BLEED_AD_RATE	7	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_BATHY	0	T_GPS_CHARGE	-989800.69	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_ICE	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	PITCH_MIN	237	AH0_10V	100	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MAX	3815	MINV_24V	19	SIM_W	0
COURSE_BIAS	0	C_PITCH	2995	MINV_10V	8	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_G	0.0042701932
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_H	0.00061695499
RHO	1.023	P_OVSHOOT	0.026142744	PHONE_SUPPLY	2	SEABIRD_T_I	2.0597783e-05
MASS	76769	P_OVSHOOT_WITHG	0.089055829	PRESSURE_YINT	-1038.2784	SEABIRD_T_J	1.9668842e-06
MASS_COMP	9469	PITCH_GAIN	24	PRESSURE_SLOPE	0.00092600001	SEABIRD_C_G	-9.6408119
NAV_MODE	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.1092987
FERRY_MAX	45	PITCH_AD_RATE	140	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011480527
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016399958
HD_A	0.0047458	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_B	0.011518	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070214,042454,4742.978,-12225.125,40,1.4,40,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.085,0.205
_SM_DEPTHo	1.30	KALMAN_X	-249.3,262.5,-83.8,-662.1,-302.2
_SM_ANGLEo	-70.5	KALMAN_Y	359.6,941.9,-360.6,-3243.5,-615.3
GPS2	070214,043006,4742.954,-12225.158,31,1.4,31,18.2	MHEAD_RNG_PITCHd_Wd	4.3,2978,-15.4,-7.500,-18.65,2965
SPEED_LIMITS	0.075,0.222	D_GRID	180

FINISH	-0.2,1.010026	_24V_AH	23.3,38.431
SM_CCo	4275,32.50,0.901,0,0,2351,300.22	_10V_AH	10.4,4.723
SM_GC	0.84,7.85,2.20,32.50,0.057,0.057,0.901,211,1768,2351,-8.61,1.44,300.22,0,0,0,0,0,0,25.87,25.86,24.43	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,070214,030345	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	354572
HUMID	39.95	DATA_FILE_SIZE	26922,463
INTERNAL_PRESSURE	8.47689	CAP_FILE_SIZE	76687,0
TCM_TEMP	17.60	CFSIZE	260165632,242466816
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.4,19.3	GPS	070214,054403,4743.024,-12225.241,11,2.2,31,18.2
ALTIM_BOTTOM_PING	165.8,33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	250	115.11	SBE_CT	315	56	412.74
Roll_motor	66	72	110.73	AA4330	609	15	223.21
VBD_pump_during_apogee	287	1037	6961.66	nil	0	0	0.00
VBD_pump_during_surface	32	901	682.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	52	35.72	nil	0	0	0.00
Iridium_during_connect	41	160	154.32	nil	0	0	0.00
Iridium_during_xfer	130	223	678.83	nil	0	0	0.00
Transponder_ping	7	420	68.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	26	9.66
TT8	1099	9	114.05
LPSleep	1849	2	42.13
TT8_Active	476	9	49.43
TT8_Sampling	1104	31	364.03
TT8_CF8	102	39	42.59
TT8_Kalman	33	52	18.22
Analog_circuits	1011	11	115.74
GPS_charging	0	0	0.00
Compass	843	20	177.32
RAFOS	0	0	0.00
Transponder	41	30	13.10

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.64	-146.6	251	1720	2315	2388	0.0	0.0	0	116	0.00	0.00	-97.22	0.000	16386	0.000	0.000	251	1720	3501	3462	3540	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.64	-146.6	251	1720	3462	3541	3.4	-2.4	18	150	10.48	2.33	-14.95	0.000	18692	0.251	0.067	2775	3128	3866	3833	3900	0	0	0	0	0	0	24.86	25.38	25.30
247	-0.64	-146.6	2775	3129	3833	3900	19.0	-9.5	42	254	0.00	2.22	0.00	0.000	1030	0.000	0.060	2775	1703	3866	3833	3900	0	0	0	0	0	0	28.83	25.53	28.83
321	-0.64	-146.6	2775	1703	3833	3900	26.0	-10.1	50	322	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1703	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
441	-0.64	-146.6	2775	1703	3833	3900	37.2	-9.7	62	450	0.00	2.30	0.00	0.000	260	0.000	0.070	2771	3128	3867	3834	3900	0	0	0	0	0	0	28.83	25.58	28.83
542	-0.64	-146.6	2770	3128	3833	3900	45.8	-8.1	72	551	0.00	2.15	0.00	0.000	1030	0.000	0.060	2771	1726	3866	3833	3900	0	0	0	0	0	0	28.83	25.71	28.83
672	-0.64	-146.6	2770	1726	3833	3900	57.8	-9.7	85	681	0.00	2.17	0.00	0.000	516	0.000	0.072	2771	331	3866	3833	3900	0	0	0	0	0	0	28.83	25.65	28.83
733	-0.64	-146.6	2770	331	3833	3900	64.1	-10.6	91	742	0.00	2.12	0.00	0.000	1030	0.000	0.057	2770	1738	3866	3833	3900	0	0	0	0	0	0	28.83	25.78	28.83
863	-0.64	-146.6	2770	1738	3833	3900	76.4	-8.8	104	872	0.00	2.20	0.00	0.000	260	0.000	0.070	2768	3136	3866	3833	3899	0	0	0	0	0	0	28.83	25.70	28.83
905	-0.64	-146.6	2768	3137	3833	3900	80.2	-9.0	108	913	0.00	2.15	0.00	0.000	1030	0.000	0.060	2768	1730	3866	3833	3900	0	0	0	0	0	0	28.83	25.81	28.83
1034	-0.64	-146.6	2768	1730	3833	3900	92.1	-9.5	121	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1730	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1154	-0.64	-146.6	2768	1730	3833	3900	103.7	-9.6	133	1163	0.00	2.25	0.00	0.000	260	0.000	0.070	2767	3135	3866	3833	3900	0	0	0	0	0	0	28.83	25.75	28.83
1227	-0.64	-146.6	2766	3134	3833	3900	110.6	-8.9	140	1236	0.00	2.12	0.00	0.000	1030	0.000	0.060	2768	1740	3866	3833	3900	0	0	0	0	0	0	28.83	25.87	28.83
1355	-0.64	-146.6	2767	1740	3833	3899	122.9	-8.4	153	1364	0.00	2.22	0.00	0.000	260	0.000	0.072	2765	3133	3866	3833	3900	0	0	0	0	0	0	28.83	25.77	28.83
1469	-0.64	-146.6	2764	3134	3833	3900	133.0	-9.5	164	1478	0.00	2.10	0.00	0.000	1030	0.000	0.060	2765	1739	3866	3833	3900	0	0	0	0	0	0	28.83	25.89	28.83
1600	-0.64	-146.6	2764	1739	3833	3900	145.8	-9.2	177	1605	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	1739	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1728	-0.64	-146.6	2765	1739	3833	3900	159.4	-9.2	190	1737	0.00	2.20	0.00	0.000	260	0.000	0.070	2761	3133	3866	3833	3900	0	0	0	0	0	0	28.83	25.82	28.83
1806	-0.64	-146.6	2761	3133	3833	3899	167.1	-9.8	197	1813	0.00	2.12	0.00	0.000	1030	0.000	0.057	2761	1732	3866	3833	3900	0	0	0	0	0	0	28.83	25.93	28.83
1933	-0.64	-146.6	2761	1732	3833	3900	179.9	-9.3	210	1934	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	1732	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1942	end dive: TARGET_DEPTH_EXCEEDED
state	1942	begin apogee
1946	-0.21	0.0	2761	1732	3833	3900	180.6	-8.5	211	2054	0.50	0.00	102.53	1.038	10246	0.132	0.000	2928	1732	3368	3338	3398	0	0	0	0	0	0	25.53	28.83	23.68
2055	end apogee: CONTROL_FINISHED_OK
state	2055	begin climb
2057	0.64	146.6	2928	1732	3338	3398	185.3	0.0	222	2165	0.73	0.00	104.72	0.914	10502	0.097	0.000	3181	1732	2870	2845	2896	0	0	0	0	0	0	24.58	28.83	23.26
2285	0.64	161.4	3181	1732	2845	2897	172.1	7.0	245	2303	0.00	0.00	12.00	0.862	8198	0.000	0.000	3181	1732	2821	2794	2848	0	0	0	0	0	0	28.83	28.83	23.58
2423	0.64	221.4	3181	1732	2794	2848	163.0	5.4	259	2474	0.00	2.33	43.17	0.929	8452	0.000	0.070	3181	3129	2617	2594	2641	0	0	0	0	0	0	28.83	24.57	23.65
2519	0.64	227.8	3181	3129	2594	2641	157.2	7.3	268	2530	0.00	2.22	6.32	0.728	9222	0.000	0.057	3192	1735	2596	2576	2617	0	0	0	0	0	0	28.83	24.91	23.72
2651	0.64	227.8	3192	1735	2575	2617	144.8	9.8	281	2652	0.00	0.00	0.00	0.000	6	0.000	0.000	3192	1736	2596	2575	2617	0	0	0	0	0	0	28.83	28.83	28.83
2771	0.64	227.8	3191	1735	2575	2617	133.2	11.2	293	2780	0.00	2.25	0.00	0.000	260	0.000	0.070	3192	3132	2596	2576	2617	0	0	0	0	0	0	28.83	25.35	28.83
2834	0.64	227.8	3192	3132	2576	2617	128.1	8.6	299	2841	0.00	2.17	0.00	0.000	1030	0.000	0.057	3202	1734	2596	2575	2617	0	0	0	0	0	0	28.83	25.48	28.83
2962	0.64	242.9	3201	1734	2576	2617	119.4	7.0	312	2982	0.00	2.28	12.20	0.872	8452	0.000	0.072	3202	3134	2545	2525	2565	0	0	0	0	0	0	28.83	25.39	24.32
3055	0.64	242.9	3201	3134	2525	2565	112.8	8.6	321	3063	0.00	2.17	0.00	0.000	1030	0.000	0.060	3212	1732	2545	2525	2565	0	0	0	0	0	0	28.83	25.53	28.83
3185	0.64	242.9	3212	1732	2525	2565	100.3	9.8	334	3186	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1732	2545	2525	2565	0	0	0	0	0	0	28.83	28.83	28.83
3305	0.64	242.9	3212	1732	2525	2565	87.9	10.4	346	3313	0.00	2.25	0.00	0.000	260	0.000	0.070	3212	3141	2545	2525	2565	0	0	0	0	0	0	28.83	25.63	28.83
3349	0.64	242.9	3212	3141	2525	2565	83.9	10.1	350	3355	0.00	2.17	0.00	0.000	1030	0.000	0.060	3221	1728	2545	2525	2565	0	0	0	0	0	0	28.83	25.72	28.83
3476	0.64	242.9	3221	1728	2525	2565	70.8	9.3	363	3484	0.00	2.17	0.00	0.000	516	0.000	0.072	3232	335	2545	2525	2565	0	0	0	0	0	0	28.83	25.68	28.83
3540	0.64	242.9	3232	335	2525	2565	64.4	11.0	369	3546	0.00	2.12	0.00	0.000	1030	0.000	0.057	3232	1744	2544	2524	2565	0	0	0	0	0	0	28.83	25.80	28.83
3666	0.64	242.9	3232	1745	2524	2565	50.1	10.5	382	3675	0.00	2.20	0.00	0.000	260	0.000	0.070	3232	3132	2545	2525	2565	0	0	0	0	0	0	28.83	25.74	28.83
3727	0.64	242.9	3232	3132	2524	2565	43.1	11.1	388	3736	0.15	2.15	0.00	0.000	5126	0.174	0.060	3202	1728	2545	2525	2565	0	0	0	0	0	0	25.55	25.84	28.83
3857	0.64	242.9	3201	1728	2525	2565	31.4	7.6	401	3859	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	1728	2544	2524	2565	0	0	0	0	0	0	28.83	28.83	28.83
3977	0.64	251.1	3201	1728	2524	2565	22.4	7.2	413	3990	0.00	2.25	6.93	0.747	8452	0.000	0.070	3201	3125	2517	2496	2539	0	0	0	0	0	0	28.83	25.82	24.65
4053	0.64	251.1	3201	3125	2496	2538	16.5	8.2	424	4059	0.00	2.12	0.00	0.000	1030	0.000	0.060	3212	1734	2517	2496	2539	0	0	0	0	0	0	28.83	25.84	28.83
4121	0.64	251.1	3212	1734	2496	2539	10.5	8.5	437	4127	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1734	2517	2496	2539	0	0	0	0	0	0	28.83	28.83	28.83
4188	0.64	251.1	3212	1734	2496	2539	4.6	8.6	450	4195	0.00	2.25	0.00	0.000	260	0.000	0.070	3212	3140	2517	2496	2538	0	0	0	0	0	0	28.83	25.79	28.83
4200	end climb: SURFACE_DEPTH_REACHED
state	4200	begin surface coast
4257	end surface coast: CONTROL_FINISHED_OK
state	4257	begin surface