Glider dive log

Shilshole 13Nov14 * SG039 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 39 HD_B 0.011518 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 3 HD_C 1.6100001e-05 ROLL_MIN 245 ALTIM_BOTTOM_PING_RANGE 0

DIVE 10 HEADING -1 ROLL_MAX 3845 ALTIM_TOP_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1700 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_TOP_MIN_OBSTACLE 0

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 100

D_ABORT 5500 TGT_DEFAULT_LON -12224.5 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 3 SM_CC 350 R_PORT_OVSHOOT 34 ALTIM_PULSE 4

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 44 ALTIM_SENSITIVITY 4

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_VALID 1

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 1.2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 200 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2617 DEVICE1 2

T_DIVE 85 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 100 CALL_TRIES 10 VBD_CNV -0.29049999 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 1000000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 60 LOGGERDEVICE2 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 150 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3910 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2880 MINV_24V 17 SIM_W 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 MINV_10V 8 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_G 0.0044030095

RHO 1.0275 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_H 0.00064263446

MASS 78291 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.7272366e-05

MASS_COMP 9185.7002 PITCH_GAIN 21 PRESSURE_YINT -1076.7625 SEABIRD_T_J 3.452938e-06

NAV_MODE 1 PITCH_TIMEOUT 18 PRESSURE_SLOPE 0.00094170001 SEABIRD_C_G -9.7790155

FERRY_MAX 45 PITCH_AD_RATE 165 AD7714Ch0Gain 32 SEABIRD_C_H 1.1333548

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00086257502

HD_A 0.0047458 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00014502628

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.452938e-06

AH0_10V 100 D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_GAIN 21 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAX 3910 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.0047458 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 10 HD_B 0.011518 PRESSURE_SLOPE 0.00094170001 T_BOOST 0

CALL_WAIT 30 HD_C 1.6100001e-05 PRESSURE_YINT -1076.7625 T_DIVE 85

CAPMAXSIZE 1000000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.0099999998 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 39 RAFOS_DEVICE -1 T_MISSION 100

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.2 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 2880 LOGGERDEVICE1 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 1700 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_VBD 2617 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78291 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9185.7002 ROLL_MAX 3845 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 245 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 44 VBD_MIN 200

DIVE 10 NAV_MODE 1 SEABIRD_C_G -9.7790155 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 5500 NOCOMM_ACTION 0 SEABIRD_C_H 1.1333548 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 3 N_DIVES 0 SEABIRD_C_I -0.00086257502 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00014502628 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.0044030095 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00064263446 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7272366e-05 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 141114,071227,4743.6157,-12224.6182,9,0.9,33,16.3,0.0,0.0,8,5.9 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,0.206

_SM_DEPTHo 1.83 KALMAN_X -282.1,53.3,36.8,-274.7,-193.1

_SM_ANGLEo -64.8 KALMAN_Y 1384.9,154.2,-211.5,-64.9,70.0

GPS2 141114,071919,4743.6523,-12224.6689,5,0.9,8,16.3,0.0,0.0,10,9.5 MHEAD_RNG_PITCHd_Wd 1.7,1584,-14.6,-7.059,-18.01,3147

SPEED_LIMITS 0.071,0.217 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.5,1.016652 _24V_AH 24.68,2.082

SM_CCo 4645,166.73,0.079,0,0,1412,350.05 _10V_AH 10.53,1.905

SM_GC 1.73,7.70,2.30,166.73,0.067,0.055,0.079,152,1698,1412,-8.47,1.02,350.05,0,0,0,0,0,0,26.36,26.39,26.34 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,141114,071328 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 322972

HUMID 53.38 DATA_FILE_SIZE 30272,509

INTERNAL_PRESSURE 9.0421 CAP_FILE_SIZE 83436,1

TCM_TEMP 19.00 CFSIZE 1024409600,1020002304

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

ALTIM_BOTTOM_PING 135.8,58.1 GPS 141114,084120,4744.437,-12224.449,4,0.9,9,16.3,0.0,0.0,10,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 270 130.08 SBE_CT 340 23 194.92

Roll_motor 59 99 144.87 AA4330 670 13 223.11

VBD_pump_during_apogee 260 806 5182.18 nil 0 0 0.00

VBD_pump_during_surface 166 79 326.94 nil 0 0 0.00

VBD_valve 146 144 518.92 nil 0 0 0.00

Iridium_during_init 31 12 9.72 nil 0 0 0.00

Iridium_during_connect 16 160 65.91 nil 0 0 0.00

Iridium_during_xfer 277 223 1526.49 nil 0 0 0.00

Transponder_ping 3 420 31.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.71

TT8 1222 11 150.84

LPSleep 2133 2 49.19

TT8_Active 569 11 70.31

TT8_Sampling 1275 35 479.24

TT8_CF8 41 44 19.44

TT8_Kalman 33 58 20.38

Analog_circuits 1102 10 116.12

GPS_charging 0 0 0.00

Compass 904 8 78.45

RAFOS 0 0 0.00

Transponder 22 30 7.05

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

15 -0.70 -146.0 151 1692 1298 1528 0.0 0.0 0 132 0.00 0.00 -114.22 0.134 16386 0.000 0.000 151 1692 2612 2499 2725 0 0 0 0 0 0 26.67 28.83 26.69

134 -0.70 -146.0 151 1692 2499 2725 3.2 -1.2 21 186 10.20 2.20 -31.77 0.144 18692 0.271 0.062 2641 3091 3121 3002 3241 0 0 0 0 0 0 26.01 26.20 26.10

412 -0.70 -146.0 2641 3092 3001 3241 27.6 -9.7 68 416 0.00 2.08 0.00 0.000 1030 0.000 0.057 2642 1700 3121 3002 3241 0 0 0 0 0 0 26.58 26.51 26.60

538 -0.70 -146.0 2641 1700 3001 3241 38.4 -8.9 80 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 1700 3121 3001 3241 0 0 0 0 0 0 26.86 26.89 26.88

658 -0.70 -146.0 2641 1700 3001 3240 48.1 -7.6 92 662 0.00 2.15 0.00 0.000 516 0.000 0.072 2641 294 3121 3001 3241 0 0 0 0 0 0 26.93 26.63 26.95

823 -0.70 -146.0 2641 294 3002 3240 61.0 -7.9 108 827 0.00 2.03 0.00 0.000 1030 0.000 0.052 2632 1707 3120 3001 3240 0 0 0 0 0 0 26.82 26.75 26.83

948 -0.70 -146.0 2631 1707 3001 3240 70.8 -7.9 120 952 0.00 2.15 0.00 0.000 516 0.000 0.072 2632 288 3120 3001 3240 0 0 0 0 0 0 27.05 26.74 27.06

1114 -0.70 -146.0 2631 288 3001 3240 85.8 -9.2 136 1118 0.10 2.03 0.00 0.000 3078 0.186 0.052 2654 1710 3120 3001 3240 0 0 0 0 0 0 26.70 26.84 26.84

1239 -0.70 -146.0 2653 1710 3001 3240 95.3 -7.7 148 1240 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 1710 3120 3001 3240 0 0 0 0 0 0 27.12 27.15 27.14

1359 -0.70 -146.0 2653 1710 3002 3240 104.5 -7.3 160 1363 0.00 2.05 0.00 0.000 260 0.000 0.062 2644 3091 3120 3001 3240 0 0 0 0 0 0 27.15 26.86 27.16

1408 -0.70 -146.0 2643 3091 3002 3240 107.3 -6.4 164 1416 0.00 2.10 0.00 0.000 1030 0.000 0.055 2644 1696 3120 3001 3240 0 0 0 0 0 0 26.92 26.86 26.94

1536 -0.70 -146.0 2644 1696 3001 3240 116.0 -6.2 177 1539 0.00 2.10 0.00 0.000 516 0.000 0.072 2644 296 3121 3002 3240 0 0 0 0 0 0 27.17 26.86 27.18

1566 -0.70 -146.0 2643 294 3001 3240 118.2 -6.7 180 1570 0.00 2.00 0.00 0.000 1030 0.000 0.052 2634 1701 3120 3001 3239 0 0 0 0 0 0 26.98 26.92 27.00

1691 -0.70 -146.0 2633 1701 3001 3239 126.6 -6.9 192 1695 0.00 2.12 0.00 0.000 516 0.000 0.070 2634 288 3120 3001 3240 0 0 0 0 0 0 27.18 26.88 27.20

1771 -0.70 -146.0 2633 288 3001 3240 132.3 -7.4 199 1779 0.08 2.05 0.00 0.000 3078 0.176 0.050 2650 1697 3120 3001 3240 0 0 0 0 0 0 26.79 26.96 26.89

1898 -0.70 -146.0 2649 1697 3001 3240 140.8 -6.4 212 1902 0.00 2.12 0.00 0.000 516 0.000 0.072 2650 284 3120 3001 3240 0 0 0 0 0 0 27.21 26.90 27.22

1974 -0.70 -146.0 2650 283 3001 3240 146.7 -7.5 219 1977 0.00 2.03 0.00 0.000 1030 0.000 0.052 2640 1711 3120 3001 3240 0 0 0 0 0 0 27.03 26.96 27.05

2099 -0.70 -146.0 2640 1712 3001 3239 155.4 -6.9 231 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 1712 3121 3002 3240 0 0 0 0 0 0 27.23 27.26 27.24

2219 -0.70 -146.0 2640 1712 3001 3239 163.1 -6.4 243 2223 0.00 2.12 0.00 0.000 516 0.000 0.072 2640 294 3120 3001 3240 0 0 0 0 0 0 27.24 26.94 27.27

2272 -0.70 -146.0 2640 294 3001 3239 166.6 -6.7 248 2279 0.00 2.03 0.00 0.000 1030 0.000 0.050 2630 1694 3120 3001 3239 0 0 0 0 0 0 27.03 27.01 27.05

2399 -0.70 -146.0 2630 1694 3001 3239 175.0 -6.5 261 2400 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 1694 3120 3002 3239 0 0 0 0 0 0 27.26 27.29 27.28

2468 end dive: BOTTOM_OBSTACLE_DETECTED

state 2468 begin apogee

2472 -0.24 0.0 2629 1810 3001 3239 179.3 -5.9 268 2580 0.50 0.00 102.95 0.807 10246 0.137 0.000 2804 1810 2617 2519 2715 0 0 0 0 0 0 26.89 25.51 24.97

2581 end apogee: CONTROL_FINISHED_OK

state 2581 begin climb

2582 0.70 146.0 2804 1809 2519 2715 181.1 0.0 279 2692 0.80 0.00 105.05 0.775 10758 0.104 0.000 3095 1810 2113 2030 2197 0 0 0 0 0 0 25.58 25.18 24.68

2809 0.70 146.0 3094 1810 2030 2197 163.5 9.1 302 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1810 2113 2030 2197 0 0 0 0 0 0 26.27 26.29 26.28

2929 0.70 146.0 3094 1810 2030 2197 153.0 9.0 314 2933 0.00 2.17 0.00 0.000 516 0.000 0.070 3105 396 2113 2030 2197 0 0 0 0 0 0 26.53 26.24 26.55

2947 0.70 146.0 3105 396 2030 2197 151.5 9.1 315 2955 0.00 2.10 0.00 0.000 1030 0.000 0.050 3105 1799 2113 2030 2197 0 0 0 0 0 0 26.35 26.32 26.37

3074 0.70 146.0 3105 1799 2030 2197 139.0 9.8 328 3076 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 1799 2113 2030 2197 0 0 0 0 0 0 26.71 26.73 26.73

3194 0.70 146.0 3105 1800 2030 2197 127.8 9.1 340 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 1799 2113 2030 2197 0 0 0 0 0 0 26.82 26.84 26.83

3314 0.70 146.0 3105 1799 2030 2197 116.2 10.1 352 3318 0.00 2.10 0.00 0.000 260 0.000 0.065 3105 3198 2113 2030 2197 0 0 0 0 0 0 26.89 26.60 26.90

3370 0.70 146.0 3105 3198 2030 2197 110.2 11.1 357 3374 0.00 2.08 0.00 0.000 1030 0.000 0.057 3116 1798 2113 2030 2197 0 0 0 0 0 0 26.72 26.65 26.74

3495 0.70 146.0 3115 1797 2029 2197 97.3 10.3 369 3499 0.00 2.12 0.00 0.000 516 0.000 0.072 3127 386 2113 2030 2197 0 0 0 0 0 0 26.97 26.67 26.99

3530 0.70 146.0 3126 386 2031 2197 93.3 11.4 372 3534 0.00 2.03 0.00 0.000 1030 0.000 0.052 3126 1804 2113 2030 2197 0 0 0 0 0 0 26.80 26.74 26.82

3655 0.70 146.0 3126 1804 2030 2197 80.3 9.5 384 3656 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 1804 2113 2030 2197 0 0 0 0 0 0 27.03 27.05 27.05

3775 0.70 146.0 3126 1804 2031 2197 68.6 9.8 396 3776 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 1804 2113 2030 2197 0 0 0 0 0 0 27.07 27.09 27.08

3895 0.70 146.0 3126 1804 2030 2197 56.8 9.7 408 3899 0.00 2.12 0.00 0.000 516 0.000 0.072 3137 394 2114 2031 2197 0 0 0 0 0 0 27.10 26.79 27.11

3951 0.70 146.0 3137 394 2031 2197 50.6 11.7 413 3955 0.10 2.03 0.00 0.000 5126 0.186 0.052 3104 1803 2114 2031 2197 0 0 0 0 0 0 26.72 26.86 26.86

4076 0.70 146.0 3104 1803 2030 2197 38.6 8.3 425 4077 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1803 2114 2031 2197 0 0 0 0 0 0 27.14 27.16 27.15

4196 0.70 146.0 3104 1803 2030 2197 28.7 7.6 437 4200 0.00 2.12 0.00 0.000 516 0.000 0.072 3114 390 2114 2031 2197 0 0 0 0 0 0 27.16 26.86 27.18

4221 0.70 146.0 3113 390 2030 2197 26.6 7.1 439 4225 0.00 2.00 0.00 0.000 1030 0.000 0.052 3114 1799 2113 2030 2197 0 0 0 0 0 0 26.98 26.91 26.99

4346 0.70 146.0 3113 1799 2030 2197 15.8 8.9 455 4352 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1799 2114 2031 2197 0 0 0 0 0 0 27.18 27.21 27.20

4413 0.70 146.0 3113 1799 2031 2197 11.2 6.5 468 4419 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1799 2114 2031 2197 0 0 0 0 0 0 27.20 27.22 27.22

4481 0.70 221.5 3113 1799 2031 2198 7.9 4.6 481 4542 0.00 2.15 52.20 0.695 8452 0.000 0.067 3114 3192 1854 1761 1947 0 0 0 0 0 0 27.20 26.15 25.63

4598 end climb: SURFACE_DEPTH_REACHED

state 4598 begin surface coast

4629 end surface coast: CONTROL_FINISHED_OK

state 4629 begin surface

ID	39	HD_B	0.011518	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	3	HD_C	1.6100001e-05	ROLL_MIN	245	ALTIM_BOTTOM_PING_RANGE	0
DIVE	10	HEADING	-1	ROLL_MAX	3845	ALTIM_TOP_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1700	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_TOP_MIN_OBSTACLE	0
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	100
D_ABORT	5500	TGT_DEFAULT_LON	-12224.5	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	3	SM_CC	350	R_PORT_OVSHOOT	34	ALTIM_PULSE	4
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	4
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_VALID	1
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	200	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2617	DEVICE1	2
T_DIVE	85	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	100	CALL_TRIES	10	VBD_CNV	-0.29049999	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	1000000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	60	LOGGERDEVICE2	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	150	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3910	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2880	MINV_24V	17	SIM_W	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	MINV_10V	8	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_G	0.0044030095
RHO	1.0275	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_H	0.00064263446
MASS	78291	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.7272366e-05
MASS_COMP	9185.7002	PITCH_GAIN	21	PRESSURE_YINT	-1076.7625	SEABIRD_T_J	3.452938e-06
NAV_MODE	1	PITCH_TIMEOUT	18	PRESSURE_SLOPE	0.00094170001	SEABIRD_C_G	-9.7790155
FERRY_MAX	45	PITCH_AD_RATE	165	AD7714Ch0Gain	32	SEABIRD_C_H	1.1333548
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00086257502
HD_A	0.0047458	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00014502628

GPS1	141114,071227,4743.6157,-12224.6182,9,0.9,33,16.3,0.0,0.0,8,5.9	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,0.206
_SM_DEPTHo	1.83	KALMAN_X	-282.1,53.3,36.8,-274.7,-193.1
_SM_ANGLEo	-64.8	KALMAN_Y	1384.9,154.2,-211.5,-64.9,70.0
GPS2	141114,071919,4743.6523,-12224.6689,5,0.9,8,16.3,0.0,0.0,10,9.5	MHEAD_RNG_PITCHd_Wd	1.7,1584,-14.6,-7.059,-18.01,3147
SPEED_LIMITS	0.071,0.217	D_GRID	180

FINISH	0.5,1.016652	_24V_AH	24.68,2.082
SM_CCo	4645,166.73,0.079,0,0,1412,350.05	_10V_AH	10.53,1.905
SM_GC	1.73,7.70,2.30,166.73,0.067,0.055,0.079,152,1698,1412,-8.47,1.02,350.05,0,0,0,0,0,0,26.36,26.39,26.34	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,141114,071328	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	322972
HUMID	53.38	DATA_FILE_SIZE	30272,509
INTERNAL_PRESSURE	9.0421	CAP_FILE_SIZE	83436,1
TCM_TEMP	19.00	CFSIZE	1024409600,1020002304
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	135.8,58.1	GPS	141114,084120,4744.437,-12224.449,4,0.9,9,16.3,0.0,0.0,10,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	270	130.08	SBE_CT	340	23	194.92
Roll_motor	59	99	144.87	AA4330	670	13	223.11
VBD_pump_during_apogee	260	806	5182.18	nil	0	0	0.00
VBD_pump_during_surface	166	79	326.94	nil	0	0	0.00
VBD_valve	146	144	518.92	nil	0	0	0.00
Iridium_during_init	31	12	9.72	nil	0	0	0.00
Iridium_during_connect	16	160	65.91	nil	0	0	0.00
Iridium_during_xfer	277	223	1526.49	nil	0	0	0.00
Transponder_ping	3	420	31.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.71
TT8	1222	11	150.84
LPSleep	2133	2	49.19
TT8_Active	569	11	70.31
TT8_Sampling	1275	35	479.24
TT8_CF8	41	44	19.44
TT8_Kalman	33	58	20.38
Analog_circuits	1102	10	116.12
GPS_charging	0	0	0.00
Compass	904	8	78.45
RAFOS	0	0	0.00
Transponder	22	30	7.05

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
15	-0.70	-146.0	151	1692	1298	1528	0.0	0.0	0	132	0.00	0.00	-114.22	0.134	16386	0.000	0.000	151	1692	2612	2499	2725	0	0	0	0	0	0	26.67	28.83	26.69
134	-0.70	-146.0	151	1692	2499	2725	3.2	-1.2	21	186	10.20	2.20	-31.77	0.144	18692	0.271	0.062	2641	3091	3121	3002	3241	0	0	0	0	0	0	26.01	26.20	26.10
412	-0.70	-146.0	2641	3092	3001	3241	27.6	-9.7	68	416	0.00	2.08	0.00	0.000	1030	0.000	0.057	2642	1700	3121	3002	3241	0	0	0	0	0	0	26.58	26.51	26.60
538	-0.70	-146.0	2641	1700	3001	3241	38.4	-8.9	80	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	1700	3121	3001	3241	0	0	0	0	0	0	26.86	26.89	26.88
658	-0.70	-146.0	2641	1700	3001	3240	48.1	-7.6	92	662	0.00	2.15	0.00	0.000	516	0.000	0.072	2641	294	3121	3001	3241	0	0	0	0	0	0	26.93	26.63	26.95
823	-0.70	-146.0	2641	294	3002	3240	61.0	-7.9	108	827	0.00	2.03	0.00	0.000	1030	0.000	0.052	2632	1707	3120	3001	3240	0	0	0	0	0	0	26.82	26.75	26.83
948	-0.70	-146.0	2631	1707	3001	3240	70.8	-7.9	120	952	0.00	2.15	0.00	0.000	516	0.000	0.072	2632	288	3120	3001	3240	0	0	0	0	0	0	27.05	26.74	27.06
1114	-0.70	-146.0	2631	288	3001	3240	85.8	-9.2	136	1118	0.10	2.03	0.00	0.000	3078	0.186	0.052	2654	1710	3120	3001	3240	0	0	0	0	0	0	26.70	26.84	26.84
1239	-0.70	-146.0	2653	1710	3001	3240	95.3	-7.7	148	1240	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	1710	3120	3001	3240	0	0	0	0	0	0	27.12	27.15	27.14
1359	-0.70	-146.0	2653	1710	3002	3240	104.5	-7.3	160	1363	0.00	2.05	0.00	0.000	260	0.000	0.062	2644	3091	3120	3001	3240	0	0	0	0	0	0	27.15	26.86	27.16
1408	-0.70	-146.0	2643	3091	3002	3240	107.3	-6.4	164	1416	0.00	2.10	0.00	0.000	1030	0.000	0.055	2644	1696	3120	3001	3240	0	0	0	0	0	0	26.92	26.86	26.94
1536	-0.70	-146.0	2644	1696	3001	3240	116.0	-6.2	177	1539	0.00	2.10	0.00	0.000	516	0.000	0.072	2644	296	3121	3002	3240	0	0	0	0	0	0	27.17	26.86	27.18
1566	-0.70	-146.0	2643	294	3001	3240	118.2	-6.7	180	1570	0.00	2.00	0.00	0.000	1030	0.000	0.052	2634	1701	3120	3001	3239	0	0	0	0	0	0	26.98	26.92	27.00
1691	-0.70	-146.0	2633	1701	3001	3239	126.6	-6.9	192	1695	0.00	2.12	0.00	0.000	516	0.000	0.070	2634	288	3120	3001	3240	0	0	0	0	0	0	27.18	26.88	27.20
1771	-0.70	-146.0	2633	288	3001	3240	132.3	-7.4	199	1779	0.08	2.05	0.00	0.000	3078	0.176	0.050	2650	1697	3120	3001	3240	0	0	0	0	0	0	26.79	26.96	26.89
1898	-0.70	-146.0	2649	1697	3001	3240	140.8	-6.4	212	1902	0.00	2.12	0.00	0.000	516	0.000	0.072	2650	284	3120	3001	3240	0	0	0	0	0	0	27.21	26.90	27.22
1974	-0.70	-146.0	2650	283	3001	3240	146.7	-7.5	219	1977	0.00	2.03	0.00	0.000	1030	0.000	0.052	2640	1711	3120	3001	3240	0	0	0	0	0	0	27.03	26.96	27.05
2099	-0.70	-146.0	2640	1712	3001	3239	155.4	-6.9	231	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	1712	3121	3002	3240	0	0	0	0	0	0	27.23	27.26	27.24
2219	-0.70	-146.0	2640	1712	3001	3239	163.1	-6.4	243	2223	0.00	2.12	0.00	0.000	516	0.000	0.072	2640	294	3120	3001	3240	0	0	0	0	0	0	27.24	26.94	27.27
2272	-0.70	-146.0	2640	294	3001	3239	166.6	-6.7	248	2279	0.00	2.03	0.00	0.000	1030	0.000	0.050	2630	1694	3120	3001	3239	0	0	0	0	0	0	27.03	27.01	27.05
2399	-0.70	-146.0	2630	1694	3001	3239	175.0	-6.5	261	2400	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	1694	3120	3002	3239	0	0	0	0	0	0	27.26	27.29	27.28
2468	end dive: BOTTOM_OBSTACLE_DETECTED
state	2468	begin apogee
2472	-0.24	0.0	2629	1810	3001	3239	179.3	-5.9	268	2580	0.50	0.00	102.95	0.807	10246	0.137	0.000	2804	1810	2617	2519	2715	0	0	0	0	0	0	26.89	25.51	24.97
2581	end apogee: CONTROL_FINISHED_OK
state	2581	begin climb
2582	0.70	146.0	2804	1809	2519	2715	181.1	0.0	279	2692	0.80	0.00	105.05	0.775	10758	0.104	0.000	3095	1810	2113	2030	2197	0	0	0	0	0	0	25.58	25.18	24.68
2809	0.70	146.0	3094	1810	2030	2197	163.5	9.1	302	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1810	2113	2030	2197	0	0	0	0	0	0	26.27	26.29	26.28
2929	0.70	146.0	3094	1810	2030	2197	153.0	9.0	314	2933	0.00	2.17	0.00	0.000	516	0.000	0.070	3105	396	2113	2030	2197	0	0	0	0	0	0	26.53	26.24	26.55
2947	0.70	146.0	3105	396	2030	2197	151.5	9.1	315	2955	0.00	2.10	0.00	0.000	1030	0.000	0.050	3105	1799	2113	2030	2197	0	0	0	0	0	0	26.35	26.32	26.37
3074	0.70	146.0	3105	1799	2030	2197	139.0	9.8	328	3076	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	1799	2113	2030	2197	0	0	0	0	0	0	26.71	26.73	26.73
3194	0.70	146.0	3105	1800	2030	2197	127.8	9.1	340	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	1799	2113	2030	2197	0	0	0	0	0	0	26.82	26.84	26.83
3314	0.70	146.0	3105	1799	2030	2197	116.2	10.1	352	3318	0.00	2.10	0.00	0.000	260	0.000	0.065	3105	3198	2113	2030	2197	0	0	0	0	0	0	26.89	26.60	26.90
3370	0.70	146.0	3105	3198	2030	2197	110.2	11.1	357	3374	0.00	2.08	0.00	0.000	1030	0.000	0.057	3116	1798	2113	2030	2197	0	0	0	0	0	0	26.72	26.65	26.74
3495	0.70	146.0	3115	1797	2029	2197	97.3	10.3	369	3499	0.00	2.12	0.00	0.000	516	0.000	0.072	3127	386	2113	2030	2197	0	0	0	0	0	0	26.97	26.67	26.99
3530	0.70	146.0	3126	386	2031	2197	93.3	11.4	372	3534	0.00	2.03	0.00	0.000	1030	0.000	0.052	3126	1804	2113	2030	2197	0	0	0	0	0	0	26.80	26.74	26.82
3655	0.70	146.0	3126	1804	2030	2197	80.3	9.5	384	3656	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	1804	2113	2030	2197	0	0	0	0	0	0	27.03	27.05	27.05
3775	0.70	146.0	3126	1804	2031	2197	68.6	9.8	396	3776	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	1804	2113	2030	2197	0	0	0	0	0	0	27.07	27.09	27.08
3895	0.70	146.0	3126	1804	2030	2197	56.8	9.7	408	3899	0.00	2.12	0.00	0.000	516	0.000	0.072	3137	394	2114	2031	2197	0	0	0	0	0	0	27.10	26.79	27.11
3951	0.70	146.0	3137	394	2031	2197	50.6	11.7	413	3955	0.10	2.03	0.00	0.000	5126	0.186	0.052	3104	1803	2114	2031	2197	0	0	0	0	0	0	26.72	26.86	26.86
4076	0.70	146.0	3104	1803	2030	2197	38.6	8.3	425	4077	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1803	2114	2031	2197	0	0	0	0	0	0	27.14	27.16	27.15
4196	0.70	146.0	3104	1803	2030	2197	28.7	7.6	437	4200	0.00	2.12	0.00	0.000	516	0.000	0.072	3114	390	2114	2031	2197	0	0	0	0	0	0	27.16	26.86	27.18
4221	0.70	146.0	3113	390	2030	2197	26.6	7.1	439	4225	0.00	2.00	0.00	0.000	1030	0.000	0.052	3114	1799	2113	2030	2197	0	0	0	0	0	0	26.98	26.91	26.99
4346	0.70	146.0	3113	1799	2030	2197	15.8	8.9	455	4352	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1799	2114	2031	2197	0	0	0	0	0	0	27.18	27.21	27.20
4413	0.70	146.0	3113	1799	2031	2197	11.2	6.5	468	4419	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1799	2114	2031	2197	0	0	0	0	0	0	27.20	27.22	27.22
4481	0.70	221.5	3113	1799	2031	2198	7.9	4.6	481	4542	0.00	2.15	52.20	0.695	8452	0.000	0.067	3114	3192	1854	1761	1947	0	0	0	0	0	0	27.20	26.15	25.63
4598	end climb: SURFACE_DEPTH_REACHED
state	4598	begin surface coast
4629	end surface coast: CONTROL_FINISHED_OK
state	4629	begin surface