Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 13 * 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 13 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 46 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 47 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 90 CALL_TRIES 10 VBD_CNV -0.29519999 DEVICE3 -1

T_MISSION 105 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 -989804.44 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 90

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 -989804.44

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 105

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 46 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 47 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 13 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 070214,084457,4743.558,-12224.797,8,2.4,28,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.059,0.205

_SM_DEPTHo 1.20 KALMAN_X -958.6,-24.0,-282.5,950.3,-59.6

_SM_ANGLEo -71.9 KALMAN_Y -379.1,38.5,-475.7,-329.0,8.6

GPS2 070214,085006,4743.583,-12224.813,12,1.8,29,18.2 MHEAD_RNG_PITCHd_Wd 357.8,1742,-13.8,-6.667,-17.39,3328

SPEED_LIMITS 0.067,0.213 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.1,1.013142 _24V_AH 23.3,38.738

SM_CCo 4600,25.00,0.909,0,0,2350,300.22 _10V_AH 10.4,4.834

SM_GC 1.70,7.97,0.00,25.00,0.062,0.000,0.909,225,1736,2350,-8.60,0.03,300.22,0,0,0,0,0,0,25.48,28.83,24.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,070214,070745 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.021721 MEM 354596

HUMID 39.99 DATA_FILE_SIZE 30305,500

INTERNAL_PRESSURE 8.46712 CAP_FILE_SIZE 79639,0

TCM_TEMP 17.50 CFSIZE 260165632,242319360

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

ALTIM_TOP_PING 19.8,19.6 GPS 070214,100935,4744.053,-12224.491,33,1.1,45,18.2

ALTIM_BOTTOM_PING 155.4,34.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 250 115.84 SBE_CT 341 56 446.42

Roll_motor 61 72 103.60 AA4330 657 15 241.07

VBD_pump_during_apogee 295 1052 7246.18 nil 0 0 0.00

VBD_pump_during_surface 25 908 529.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 52 32.37 nil 0 0 0.00

Iridium_during_connect 39 160 147.67 nil 0 0 0.00

Iridium_during_xfer 132 223 686.78 nil 0 0 0.00

Transponder_ping 6 420 63.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 26 9.06

TT8 1173 9 121.67

LPSleep 2019 2 46.00

TT8_Active 459 9 47.68

TT8_Sampling 1187 31 391.38

TT8_CF8 105 39 43.98

TT8_Kalman 33 52 18.20

Analog_circuits 1036 11 118.57

GPS_charging 0 0 0.00

Compass 934 20 196.46

RAFOS 0 0 0.00

Transponder 38 30 12.15

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 14 begin dive

16 -0.57 -146.6 220 1732 2316 2387 0.0 0.0 0 116 0.00 0.00 -97.75 0.000 16386 0.000 0.000 220 1732 3505 3465 3545 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.57 -146.6 220 1732 3465 3545 3.1 -2.2 18 155 10.65 2.33 -14.93 0.000 18692 0.251 0.067 2800 3137 3866 3833 3900 0 0 0 0 0 0 24.90 25.41 25.34

380 -0.57 -146.6 2800 3137 3833 3900 34.6 -10.6 55 388 0.00 2.15 0.00 0.000 1030 0.000 0.057 2800 1737 3866 3833 3899 0 0 0 0 0 0 28.83 25.66 28.83

508 -0.57 -146.6 2799 1738 3833 3900 48.9 -11.4 68 519 0.00 2.22 0.00 0.000 260 0.000 0.070 2799 3133 3866 3833 3900 0 0 0 0 0 0 28.83 25.64 28.83

602 -0.57 -146.6 2798 3133 3833 3900 59.2 -10.7 77 611 0.00 2.17 0.00 0.000 1030 0.000 0.057 2799 1727 3866 3833 3900 0 0 0 0 0 0 28.83 25.76 28.83

732 -0.57 -146.6 2798 1727 3833 3900 72.8 -10.4 90 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1727 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

852 -0.57 -146.6 2798 1727 3833 3900 85.3 -10.1 102 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1727 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

972 -0.57 -146.6 2798 1727 3834 3900 97.0 -9.5 114 980 0.00 2.22 0.00 0.000 260 0.000 0.070 2798 3134 3867 3834 3900 0 0 0 0 0 0 28.83 25.77 28.83

1032 -0.57 -146.6 2798 3134 3833 3900 103.0 -9.6 120 1041 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1736 3866 3833 3900 0 0 0 0 0 0 28.83 25.87 28.83

1163 -0.57 -146.6 2798 1735 3833 3900 114.9 -8.9 133 1172 0.00 2.20 0.00 0.000 260 0.000 0.070 2798 3135 3866 3833 3899 0 0 0 0 0 0 28.83 25.79 28.83

1217 -0.57 -146.6 2798 3135 3833 3900 119.5 -8.1 138 1227 0.00 2.17 0.00 0.000 1030 0.000 0.057 2798 1724 3866 3833 3900 0 0 0 0 0 0 28.83 25.90 28.83

1345 -0.57 -146.6 2798 1723 3833 3900 130.0 -7.8 151 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1724 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1465 -0.57 -146.6 2797 1724 3833 3900 139.7 -8.6 163 1474 0.00 2.25 0.00 0.000 260 0.000 0.070 2798 3134 3866 3833 3900 0 0 0 0 0 0 28.83 25.83 28.83

1571 -0.57 -146.6 2798 3135 3833 3900 146.5 -6.1 173 1577 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1733 3866 3833 3900 0 0 0 0 0 0 28.83 25.94 28.83

1699 -0.57 -146.6 2798 1733 3833 3900 155.4 -7.2 186 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1732 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1827 -0.57 -146.6 2798 1732 3833 3900 164.0 -6.6 199 1836 0.00 2.20 0.00 0.000 260 0.000 0.070 2798 3129 3866 3833 3900 0 0 0 0 0 0 28.83 25.86 28.83

1969 -0.57 -146.6 2798 3129 3833 3900 173.8 -7.1 213 1977 0.00 2.12 0.00 0.000 1030 0.000 0.057 2798 1735 3867 3834 3900 0 0 0 0 0 0 28.83 25.98 28.83

2056 end dive: TARGET_DEPTH_EXCEEDED

state 2056 begin apogee

2061 -0.21 0.0 2798 1735 3833 3900 180.1 -6.5 222 2168 0.38 0.00 102.62 1.053 10246 0.127 0.000 2926 1735 3368 3339 3397 0 0 0 0 0 0 25.67 28.83 23.69

2169 end apogee: CONTROL_FINISHED_OK

state 2169 begin climb

2172 0.57 146.6 2926 1735 3339 3397 183.6 0.0 233 2288 0.68 2.40 104.40 0.916 10756 0.097 0.072 3174 340 2871 2844 2898 0 0 0 0 0 0 24.60 24.11 23.26

2363 0.57 146.6 3174 340 2844 2898 174.7 7.2 252 2371 0.00 2.22 0.00 0.000 1030 0.000 0.055 3174 1746 2872 2845 2899 0 0 0 0 0 0 28.83 24.72 28.83

2491 0.57 146.6 3174 1746 2844 2899 164.7 7.4 265 2492 0.00 0.00 0.00 0.000 6 0.000 0.000 3174 1746 2871 2844 2899 0 0 0 0 0 0 28.83 28.83 28.83

2611 0.57 146.6 3174 1746 2844 2898 156.6 6.7 277 2620 0.00 2.22 0.00 0.000 260 0.000 0.070 3174 3132 2871 2844 2898 0 0 0 0 0 0 28.83 25.28 28.83

2684 0.57 146.6 3174 3133 2844 2898 151.3 7.1 284 2691 0.00 2.20 0.00 0.000 1030 0.000 0.060 3184 1725 2871 2844 2899 0 0 0 0 0 0 28.83 25.44 28.83

2812 0.57 146.6 3184 1725 2844 2898 141.9 7.3 297 2820 0.00 2.25 0.00 0.000 260 0.000 0.067 3185 3131 2871 2844 2898 0 0 0 0 0 0 28.83 25.49 28.83

2876 0.57 166.1 3184 3131 2844 2898 138.1 6.1 303 2895 0.00 2.17 14.70 0.911 9222 0.000 0.057 3194 1734 2805 2778 2833 0 0 0 0 0 0 28.83 25.61 24.32

3023 0.57 188.1 3194 1734 2778 2833 129.3 6.0 318 3045 0.00 2.30 16.92 0.921 8452 0.000 0.072 3194 3125 2730 2704 2756 0 0 0 0 0 0 28.83 25.27 24.22

3134 0.57 198.3 3194 3125 2704 2756 122.7 6.4 329 3147 0.00 2.15 8.48 0.812 9222 0.000 0.057 3203 1730 2696 2667 2726 0 0 0 0 0 0 28.83 25.46 24.17

3268 0.57 198.3 3203 1730 2667 2726 114.4 6.7 342 3269 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 1729 2696 2667 2726 0 0 0 0 0 0 28.83 28.83 28.83

3388 0.57 200.9 3202 1730 2667 2726 107.2 6.6 354 3398 0.00 2.25 3.72 0.569 8452 0.000 0.067 3203 3140 2688 2658 2718 0 0 0 0 0 0 28.83 25.56 24.25

3444 0.57 200.9 3202 3140 2658 2717 102.4 9.9 359 3451 0.15 2.17 0.00 0.000 5126 0.166 0.057 3172 1730 2688 2658 2718 0 0 0 0 0 0 25.41 25.64 28.83

3571 0.57 200.9 3172 1729 2658 2718 89.2 11.3 372 3572 0.00 0.00 0.00 0.000 6 0.000 0.000 3172 1729 2688 2658 2718 0 0 0 0 0 0 28.83 28.83 28.83

3691 0.57 200.9 3172 1730 2658 2718 74.6 12.4 384 3699 0.00 2.17 0.00 0.000 516 0.000 0.072 3182 337 2688 2658 2718 0 0 0 0 0 0 28.83 25.67 28.83

3741 0.57 200.9 3182 337 2658 2718 68.3 12.7 389 3750 0.00 2.12 0.00 0.000 1030 0.000 0.057 3182 1737 2688 2658 2718 0 0 0 0 0 0 28.83 25.79 28.83

3872 0.57 200.9 3182 1737 2658 2718 53.1 10.2 402 3873 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 1737 2688 2658 2718 0 0 0 0 0 0 28.83 28.83 28.83

3991 0.57 200.9 3182 1737 2658 2718 41.9 8.2 414 3992 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 1737 2688 2658 2718 0 0 0 0 0 0 28.83 28.83 28.83

4111 0.57 200.9 3182 1737 2658 2718 32.0 7.6 426 4120 0.00 2.17 0.00 0.000 260 0.000 0.070 3182 3129 2688 2658 2718 0 0 0 0 0 0 28.83 25.79 28.83

4172 0.57 200.9 3182 3129 2657 2718 27.4 7.8 432 4181 0.00 2.12 0.00 0.000 1030 0.000 0.057 3190 1732 2688 2658 2718 0 0 0 0 0 0 28.83 25.88 28.83

4303 0.57 218.0 3190 1732 2658 2718 18.6 6.1 447 4321 0.00 2.30 13.32 0.857 8452 0.000 0.070 3190 3138 2629 2603 2655 0 0 0 0 0 0 28.83 25.72 24.65

4378 0.57 229.8 3190 3138 2604 2655 13.6 6.3 461 4397 0.00 2.15 9.85 0.802 9222 0.000 0.060 3200 1736 2588 2565 2612 0 0 0 0 0 0 28.83 25.77 24.49

4459 0.57 259.3 3200 1736 2564 2612 8.6 5.8 476 4482 0.00 0.00 21.38 0.891 8198 0.000 0.000 3200 1736 2489 2466 2513 0 0 0 0 0 0 28.83 28.83 24.31

4522 end climb: SURFACE_DEPTH_REACHED

state 4522 begin surface coast

4584 end surface coast: CONTROL_FINISHED_OK

state 4584 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	13	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	46	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	47	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	90	CALL_TRIES	10	VBD_CNV	-0.29519999	DEVICE3	-1
T_MISSION	105	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	-989804.44	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	070214,084457,4743.558,-12224.797,8,2.4,28,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.059,0.205
_SM_DEPTHo	1.20	KALMAN_X	-958.6,-24.0,-282.5,950.3,-59.6
_SM_ANGLEo	-71.9	KALMAN_Y	-379.1,38.5,-475.7,-329.0,8.6
GPS2	070214,085006,4743.583,-12224.813,12,1.8,29,18.2	MHEAD_RNG_PITCHd_Wd	357.8,1742,-13.8,-6.667,-17.39,3328
SPEED_LIMITS	0.067,0.213	D_GRID	180

FINISH	-0.1,1.013142	_24V_AH	23.3,38.738
SM_CCo	4600,25.00,0.909,0,0,2350,300.22	_10V_AH	10.4,4.834
SM_GC	1.70,7.97,0.00,25.00,0.062,0.000,0.909,225,1736,2350,-8.60,0.03,300.22,0,0,0,0,0,0,25.48,28.83,24.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,070214,070745	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.021721	MEM	354596
HUMID	39.99	DATA_FILE_SIZE	30305,500
INTERNAL_PRESSURE	8.46712	CAP_FILE_SIZE	79639,0
TCM_TEMP	17.50	CFSIZE	260165632,242319360
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.8,19.6	GPS	070214,100935,4744.053,-12224.491,33,1.1,45,18.2
ALTIM_BOTTOM_PING	155.4,34.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	250	115.84	SBE_CT	341	56	446.42
Roll_motor	61	72	103.60	AA4330	657	15	241.07
VBD_pump_during_apogee	295	1052	7246.18	nil	0	0	0.00
VBD_pump_during_surface	25	908	529.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	52	32.37	nil	0	0	0.00
Iridium_during_connect	39	160	147.67	nil	0	0	0.00
Iridium_during_xfer	132	223	686.78	nil	0	0	0.00
Transponder_ping	6	420	63.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	26	9.06
TT8	1173	9	121.67
LPSleep	2019	2	46.00
TT8_Active	459	9	47.68
TT8_Sampling	1187	31	391.38
TT8_CF8	105	39	43.98
TT8_Kalman	33	52	18.20
Analog_circuits	1036	11	118.57
GPS_charging	0	0	0.00
Compass	934	20	196.46
RAFOS	0	0	0.00
Transponder	38	30	12.15

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	14	begin dive
16	-0.57	-146.6	220	1732	2316	2387	0.0	0.0	0	116	0.00	0.00	-97.75	0.000	16386	0.000	0.000	220	1732	3505	3465	3545	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.57	-146.6	220	1732	3465	3545	3.1	-2.2	18	155	10.65	2.33	-14.93	0.000	18692	0.251	0.067	2800	3137	3866	3833	3900	0	0	0	0	0	0	24.90	25.41	25.34
380	-0.57	-146.6	2800	3137	3833	3900	34.6	-10.6	55	388	0.00	2.15	0.00	0.000	1030	0.000	0.057	2800	1737	3866	3833	3899	0	0	0	0	0	0	28.83	25.66	28.83
508	-0.57	-146.6	2799	1738	3833	3900	48.9	-11.4	68	519	0.00	2.22	0.00	0.000	260	0.000	0.070	2799	3133	3866	3833	3900	0	0	0	0	0	0	28.83	25.64	28.83
602	-0.57	-146.6	2798	3133	3833	3900	59.2	-10.7	77	611	0.00	2.17	0.00	0.000	1030	0.000	0.057	2799	1727	3866	3833	3900	0	0	0	0	0	0	28.83	25.76	28.83
732	-0.57	-146.6	2798	1727	3833	3900	72.8	-10.4	90	733	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1727	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
852	-0.57	-146.6	2798	1727	3833	3900	85.3	-10.1	102	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1727	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
972	-0.57	-146.6	2798	1727	3834	3900	97.0	-9.5	114	980	0.00	2.22	0.00	0.000	260	0.000	0.070	2798	3134	3867	3834	3900	0	0	0	0	0	0	28.83	25.77	28.83
1032	-0.57	-146.6	2798	3134	3833	3900	103.0	-9.6	120	1041	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1736	3866	3833	3900	0	0	0	0	0	0	28.83	25.87	28.83
1163	-0.57	-146.6	2798	1735	3833	3900	114.9	-8.9	133	1172	0.00	2.20	0.00	0.000	260	0.000	0.070	2798	3135	3866	3833	3899	0	0	0	0	0	0	28.83	25.79	28.83
1217	-0.57	-146.6	2798	3135	3833	3900	119.5	-8.1	138	1227	0.00	2.17	0.00	0.000	1030	0.000	0.057	2798	1724	3866	3833	3900	0	0	0	0	0	0	28.83	25.90	28.83
1345	-0.57	-146.6	2798	1723	3833	3900	130.0	-7.8	151	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1724	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1465	-0.57	-146.6	2797	1724	3833	3900	139.7	-8.6	163	1474	0.00	2.25	0.00	0.000	260	0.000	0.070	2798	3134	3866	3833	3900	0	0	0	0	0	0	28.83	25.83	28.83
1571	-0.57	-146.6	2798	3135	3833	3900	146.5	-6.1	173	1577	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1733	3866	3833	3900	0	0	0	0	0	0	28.83	25.94	28.83
1699	-0.57	-146.6	2798	1733	3833	3900	155.4	-7.2	186	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1732	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1827	-0.57	-146.6	2798	1732	3833	3900	164.0	-6.6	199	1836	0.00	2.20	0.00	0.000	260	0.000	0.070	2798	3129	3866	3833	3900	0	0	0	0	0	0	28.83	25.86	28.83
1969	-0.57	-146.6	2798	3129	3833	3900	173.8	-7.1	213	1977	0.00	2.12	0.00	0.000	1030	0.000	0.057	2798	1735	3867	3834	3900	0	0	0	0	0	0	28.83	25.98	28.83
2056	end dive: TARGET_DEPTH_EXCEEDED
state	2056	begin apogee
2061	-0.21	0.0	2798	1735	3833	3900	180.1	-6.5	222	2168	0.38	0.00	102.62	1.053	10246	0.127	0.000	2926	1735	3368	3339	3397	0	0	0	0	0	0	25.67	28.83	23.69
2169	end apogee: CONTROL_FINISHED_OK
state	2169	begin climb
2172	0.57	146.6	2926	1735	3339	3397	183.6	0.0	233	2288	0.68	2.40	104.40	0.916	10756	0.097	0.072	3174	340	2871	2844	2898	0	0	0	0	0	0	24.60	24.11	23.26
2363	0.57	146.6	3174	340	2844	2898	174.7	7.2	252	2371	0.00	2.22	0.00	0.000	1030	0.000	0.055	3174	1746	2872	2845	2899	0	0	0	0	0	0	28.83	24.72	28.83
2491	0.57	146.6	3174	1746	2844	2899	164.7	7.4	265	2492	0.00	0.00	0.00	0.000	6	0.000	0.000	3174	1746	2871	2844	2899	0	0	0	0	0	0	28.83	28.83	28.83
2611	0.57	146.6	3174	1746	2844	2898	156.6	6.7	277	2620	0.00	2.22	0.00	0.000	260	0.000	0.070	3174	3132	2871	2844	2898	0	0	0	0	0	0	28.83	25.28	28.83
2684	0.57	146.6	3174	3133	2844	2898	151.3	7.1	284	2691	0.00	2.20	0.00	0.000	1030	0.000	0.060	3184	1725	2871	2844	2899	0	0	0	0	0	0	28.83	25.44	28.83
2812	0.57	146.6	3184	1725	2844	2898	141.9	7.3	297	2820	0.00	2.25	0.00	0.000	260	0.000	0.067	3185	3131	2871	2844	2898	0	0	0	0	0	0	28.83	25.49	28.83
2876	0.57	166.1	3184	3131	2844	2898	138.1	6.1	303	2895	0.00	2.17	14.70	0.911	9222	0.000	0.057	3194	1734	2805	2778	2833	0	0	0	0	0	0	28.83	25.61	24.32
3023	0.57	188.1	3194	1734	2778	2833	129.3	6.0	318	3045	0.00	2.30	16.92	0.921	8452	0.000	0.072	3194	3125	2730	2704	2756	0	0	0	0	0	0	28.83	25.27	24.22
3134	0.57	198.3	3194	3125	2704	2756	122.7	6.4	329	3147	0.00	2.15	8.48	0.812	9222	0.000	0.057	3203	1730	2696	2667	2726	0	0	0	0	0	0	28.83	25.46	24.17
3268	0.57	198.3	3203	1730	2667	2726	114.4	6.7	342	3269	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	1729	2696	2667	2726	0	0	0	0	0	0	28.83	28.83	28.83
3388	0.57	200.9	3202	1730	2667	2726	107.2	6.6	354	3398	0.00	2.25	3.72	0.569	8452	0.000	0.067	3203	3140	2688	2658	2718	0	0	0	0	0	0	28.83	25.56	24.25
3444	0.57	200.9	3202	3140	2658	2717	102.4	9.9	359	3451	0.15	2.17	0.00	0.000	5126	0.166	0.057	3172	1730	2688	2658	2718	0	0	0	0	0	0	25.41	25.64	28.83
3571	0.57	200.9	3172	1729	2658	2718	89.2	11.3	372	3572	0.00	0.00	0.00	0.000	6	0.000	0.000	3172	1729	2688	2658	2718	0	0	0	0	0	0	28.83	28.83	28.83
3691	0.57	200.9	3172	1730	2658	2718	74.6	12.4	384	3699	0.00	2.17	0.00	0.000	516	0.000	0.072	3182	337	2688	2658	2718	0	0	0	0	0	0	28.83	25.67	28.83
3741	0.57	200.9	3182	337	2658	2718	68.3	12.7	389	3750	0.00	2.12	0.00	0.000	1030	0.000	0.057	3182	1737	2688	2658	2718	0	0	0	0	0	0	28.83	25.79	28.83
3872	0.57	200.9	3182	1737	2658	2718	53.1	10.2	402	3873	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	1737	2688	2658	2718	0	0	0	0	0	0	28.83	28.83	28.83
3991	0.57	200.9	3182	1737	2658	2718	41.9	8.2	414	3992	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	1737	2688	2658	2718	0	0	0	0	0	0	28.83	28.83	28.83
4111	0.57	200.9	3182	1737	2658	2718	32.0	7.6	426	4120	0.00	2.17	0.00	0.000	260	0.000	0.070	3182	3129	2688	2658	2718	0	0	0	0	0	0	28.83	25.79	28.83
4172	0.57	200.9	3182	3129	2657	2718	27.4	7.8	432	4181	0.00	2.12	0.00	0.000	1030	0.000	0.057	3190	1732	2688	2658	2718	0	0	0	0	0	0	28.83	25.88	28.83
4303	0.57	218.0	3190	1732	2658	2718	18.6	6.1	447	4321	0.00	2.30	13.32	0.857	8452	0.000	0.070	3190	3138	2629	2603	2655	0	0	0	0	0	0	28.83	25.72	24.65
4378	0.57	229.8	3190	3138	2604	2655	13.6	6.3	461	4397	0.00	2.15	9.85	0.802	9222	0.000	0.060	3200	1736	2588	2565	2612	0	0	0	0	0	0	28.83	25.77	24.49
4459	0.57	259.3	3200	1736	2564	2612	8.6	5.8	476	4482	0.00	0.00	21.38	0.891	8198	0.000	0.000	3200	1736	2489	2466	2513	0	0	0	0	0	0	28.83	28.83	24.31
4522	end climb: SURFACE_DEPTH_REACHED
state	4522	begin surface coast
4584	end surface coast: CONTROL_FINISHED_OK
state	4584	begin surface