Glider dive log

Shilshole 13Nov14.01 * SG035 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HD_B 0.011518 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 25 HD_C 1.6100001e-05 ROLL_MIN 35 ALTIM_BOTTOM_PING_RANGE 0

DIVE 17 HEADING -1 ROLL_MAX 3810 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 2332 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2332 ALTIM_TOP_MIN_OBSTACLE 1

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 0 SM_CC 350 R_PORT_OVSHOOT 57 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 40 ALTIM_SENSITIVITY 2

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_VALID 1

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 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 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 275 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3970 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2100 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 540 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 7 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 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 0.30000001 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 48

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 237 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3815 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2428 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 0.004269524

RHO 1.023 P_OVSHOOT 0.0261427 FG_AHR_24V 0 SEABIRD_T_H 0.00061604282

MASS 77080 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.0033509e-05

MASS_COMP 9247 PITCH_GAIN 23 PRESSURE_YINT -1037.434 SEABIRD_T_J 1.8499288e-06

NAV_MODE 1 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00092600001 SEABIRD_C_G -9.6420546

FERRY_MAX 45 PITCH_AD_RATE 140 AD7714Ch0Gain 32 SEABIRD_C_H 1.1096923

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001213078

HD_A 0.0047458 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016721067

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 48 SEABIRD_T_J 1.8499288e-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 140 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 23 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3815 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 237 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 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 0.00092600001 T_BOOST 0

CALL_WAIT 30 HD_C 1.6100001e-05 PRESSURE_YINT -1037.434 T_DIVE 85

CAPMAXSIZE 1000000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 P_OVSHOOT 0.0261427 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.089000002 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 35 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 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 540

C_PITCH 2428 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2332 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2332 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2100 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 77080 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9247 ROLL_MAX 3810 VBD_BLEED_AD_RATE 7

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_CNV -0.29049999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3970

DEVICE5 -1 MISSION 25 R_PORT_OVSHOOT 57 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 40 VBD_MIN 275

DIVE 17 NAV_MODE 1 SEABIRD_C_G -9.6420546 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 5500 NOCOMM_ACTION 0 SEABIRD_C_H 1.1096923 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.001213078 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00016721067 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.004269524 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00061604282 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.0033509e-05 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 141114,153135,4743.1372,-12224.9209,12,1.5,28,18.2,0.2,209.9,7,5.5 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,0.201

_SM_DEPTHo 1.42 KALMAN_X -772.3,-45.8,180.9,43.8,-346.9

_SM_ANGLEo -61.7 KALMAN_Y 1718.8,139.1,10.9,-1679.8,-655.2

GPS2 141114,153817,4743.0864,-12224.9600,13,1.6,29,18.2,0.3,203.2,7,5.8 MHEAD_RNG_PITCHd_Wd 4.4,2680,-14.6,-7.059,-17.99,3147

SPEED_LIMITS 0.071,0.217 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.3,1.021666 _10V_AH 10.47,0.772

SM_CCo 4528,149.30,0.983,0,0,894,350.05 FG_AHR_24Vo 0.000

SM_GC 1.37,6.15,0.00,149.30,0.055,0.000,0.983,215,2323,894,-6.77,-0.28,350.05,0,0,0,0,0,0,26.38,26.53,24.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12234.89,141114,140725 MEM 322868

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 26986,481

HUMID 64.88 CAP_FILE_SIZE 88876,0

INTERNAL_PRESSURE 8.21321 CFSIZE 1024409600,1015545856

TCM_TEMP 19.30 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 INTR 2,4518.52,0x2389de,7,5

ALTIM_BOTTOM_PING 125.7,72.6 GPS 141114,165828,4743.203,-12225.019,9,2.0,36,18.2,0.0,254.1,7,7.0

_24V_AH 23.86,3.235

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 240 85.19 SBE_CT 327 56 439.37

Roll_motor 84 67 135.89 AA4330 634 15 238.15

VBD_pump_during_apogee 209 1107 5534.96 nil 0 0 0.00

VBD_pump_during_surface 149 983 3502.69 nil 0 0 0.00

VBD_valve 112 104 279.93 nil 0 0 0.00

Iridium_during_init 23 52 29.49 nil 0 0 0.00

Iridium_during_connect 14 160 56.79 nil 0 0 0.00

Iridium_during_xfer 255 223 1361.28 nil 0 0 0.00

Transponder_ping 4 420 40.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 26 8.94

TT8 1206 9 125.97

LPSleep 2063 2 47.31

TT8_Active 503 9 52.53

TT8_Sampling 1248 31 414.34

TT8_CF8 75 39 31.45

TT8_Kalman 33 52 18.35

Analog_circuits 1048 11 120.77

GPS_charging 0 0 0.00

Compass 900 20 190.55

RAFOS 0 0 0.00

Transponder 13 30 4.22

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 -0.63 -146.6 227 2331 990 801 0.0 0.0 0 118 0.00 0.00 -99.35 0.092 16386 0.000 0.000 227 2332 2305 2295 2315 0 0 0 0 0 0 26.04 28.83 26.05

121 -0.63 -146.6 227 2331 2295 2315 3.3 -2.9 18 145 7.47 0.00 -13.15 0.104 18438 0.241 0.000 2222 2331 2605 2595 2615 0 0 0 0 0 0 25.56 25.79 25.71

206 -0.63 -146.6 2222 2331 2598 2602 12.7 -8.4 34 213 0.00 2.22 0.00 0.000 260 0.000 0.065 2214 3743 2600 2598 2602 0 0 0 0 0 0 26.09 25.84 26.10

260 -0.63 -146.6 2214 3743 2598 2601 18.0 -9.8 44 267 0.00 2.12 0.00 0.000 1030 0.000 0.050 2214 2326 2599 2598 2600 0 0 0 0 0 0 25.96 25.91 25.98

334 -0.63 -146.6 2214 2326 2601 2596 24.4 -7.7 53 337 0.00 2.10 0.00 0.000 516 0.000 0.057 2214 921 2598 2601 2595 0 0 0 0 0 0 26.20 25.96 26.21

429 -0.63 -146.6 2214 921 2609 2588 33.3 -10.2 62 433 0.00 2.10 0.00 0.000 1030 0.000 0.055 2210 2325 2599 2609 2589 0 0 0 0 0 0 26.08 26.01 26.10

554 -0.63 -146.6 2210 2325 2609 2588 44.0 -8.5 74 558 0.00 2.20 0.00 0.000 260 0.000 0.065 2210 3755 2598 2609 2588 0 0 0 0 0 0 26.34 26.08 26.34

583 -0.63 -146.6 2210 3755 2609 2588 46.1 -8.2 76 590 0.00 2.17 0.00 0.000 1030 0.000 0.047 2211 2322 2598 2609 2588 0 0 0 0 0 0 26.17 26.12 26.16

710 -0.63 -146.6 2210 2322 2609 2588 55.9 -7.4 89 714 0.00 2.05 0.00 0.000 516 0.000 0.057 2210 942 2598 2609 2588 0 0 0 0 0 0 26.40 26.15 26.41

751 -0.63 -146.6 2210 924 2611 2585 59.1 -7.6 93 755 0.00 2.10 0.00 0.000 1030 0.000 0.055 2210 2335 2598 2611 2586 0 0 0 0 0 0 26.22 26.16 26.25

876 -0.63 -146.6 2210 2335 2610 2586 68.5 -7.2 105 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2335 2598 2610 2586 0 0 0 0 0 0 26.46 26.47 26.46

996 -0.63 -146.6 2210 2335 2610 2585 76.9 -6.6 117 1000 0.00 2.15 0.00 0.000 260 0.000 0.065 2211 3745 2598 2611 2586 0 0 0 0 0 0 26.49 26.24 26.50

1031 -0.63 -146.6 2210 3745 2610 2586 79.6 -7.6 120 1035 0.00 2.10 0.00 0.000 1030 0.000 0.050 2210 2321 2598 2610 2586 0 0 0 0 0 0 26.32 26.27 26.33

1156 -0.63 -146.6 2210 2321 2610 2585 87.8 -7.1 132 1160 0.00 2.05 0.00 0.000 516 0.000 0.057 2210 916 2598 2610 2586 0 0 0 0 0 0 26.53 26.28 26.53

1185 -0.63 -146.6 2210 916 2611 2585 90.0 -7.4 134 1192 0.00 2.15 0.00 0.000 1030 0.000 0.052 2210 2333 2598 2611 2585 0 0 0 0 0 0 26.31 26.28 26.33

1312 -0.63 -146.6 2210 2333 2610 2584 99.5 -7.2 147 1316 0.00 2.15 0.00 0.000 260 0.000 0.065 2210 3746 2597 2611 2584 0 0 0 0 0 0 26.55 26.30 26.57

1358 -0.63 -146.6 2210 3746 2611 2585 102.8 -7.2 151 1362 0.00 2.08 0.00 0.000 1030 0.000 0.050 2210 2331 2598 2611 2585 0 0 0 0 0 0 26.39 26.34 26.40

1483 -0.63 -146.6 2210 2331 2610 2585 112.0 -7.5 163 1487 0.00 2.08 0.00 0.000 516 0.000 0.057 2210 926 2597 2611 2584 0 0 0 0 0 0 26.58 26.34 26.60

1547 -0.63 -146.6 2210 918 2611 2584 116.7 -8.1 169 1554 0.00 2.15 0.00 0.000 1030 0.000 0.052 2210 2338 2597 2611 2584 0 0 0 0 0 0 26.37 26.34 26.39

1674 -0.63 -146.6 2210 2337 2611 2584 126.6 -7.2 182 1675 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2338 2597 2611 2584 0 0 0 0 0 0 26.60 26.62 26.62

1794 -0.63 -146.6 2210 2337 2611 2584 134.4 -6.0 194 1798 0.00 2.08 0.00 0.000 516 0.000 0.055 2210 933 2597 2611 2584 0 0 0 0 0 0 26.63 26.39 26.64

1857 -0.63 -146.6 2210 922 2611 2584 138.6 -7.8 200 1864 0.00 2.12 0.00 0.000 1030 0.000 0.052 2210 2328 2597 2611 2584 0 0 0 0 0 0 26.41 26.39 26.44

1984 -0.63 -146.6 2210 2329 2611 2584 147.0 -6.1 213 1988 0.00 2.17 0.00 0.000 260 0.000 0.065 2210 3750 2597 2610 2584 0 0 0 0 0 0 26.65 26.39 26.66

2130 -0.63 -146.6 2210 3750 2610 2584 156.9 -7.0 227 2134 0.00 2.08 0.00 0.000 1030 0.000 0.050 2210 2331 2597 2610 2584 0 0 0 0 0 0 26.48 26.44 26.50

2255 -0.63 -146.6 2210 2331 2610 2584 164.5 -6.5 239 2259 0.00 2.17 0.00 0.000 260 0.000 0.065 2210 3746 2597 2611 2584 0 0 0 0 0 0 26.67 26.41 26.69

2304 -0.63 -146.6 2209 3746 2610 2584 167.6 -6.8 243 2311 0.00 2.12 0.00 0.000 1030 0.000 0.047 2210 2331 2597 2610 2584 0 0 0 0 0 0 26.48 26.46 26.49

2431 -0.63 -146.6 2210 2331 2611 2584 175.5 -5.9 256 2435 0.00 2.05 0.00 0.000 516 0.000 0.057 2210 919 2597 2611 2583 0 0 0 0 0 0 26.69 26.44 26.70

2487 -0.63 -146.6 2210 919 2611 2584 178.9 -6.2 261 2491 0.00 2.08 0.00 0.000 1030 0.000 0.052 2210 2332 2597 2611 2584 0 0 0 0 0 0 26.50 26.44 26.52

2511 end dive: TARGET_DEPTH_EXCEEDED

state 2511 begin apogee

2514 -0.22 0.0 2209 2331 2611 2584 180.8 -7.0 263 2623 0.43 0.00 101.68 1.107 10246 0.122 0.000 2363 2332 2101 2155 2047 0 0 0 0 0 0 26.37 24.52 24.07

2624 end apogee: CONTROL_FINISHED_OK

state 2624 begin climb

2625 0.63 146.6 2363 2332 2155 2047 183.4 0.0 274 2744 0.68 2.28 107.80 1.070 10756 0.089 0.060 2626 932 1595 1691 1500 0 0 0 0 0 0 24.86 24.47 23.86

2796 0.63 146.6 2626 932 1690 1499 170.2 10.5 291 2800 0.00 2.17 0.00 0.000 1030 0.000 0.052 2626 2337 1595 1691 1500 0 0 0 0 0 0 25.24 25.18 25.25

2921 0.63 146.6 2626 2338 1690 1500 157.4 10.4 303 2925 0.00 2.22 0.00 0.000 260 0.000 0.065 2626 3746 1595 1691 1500 0 0 0 0 0 0 25.82 25.58 25.83

3047 0.63 146.6 2626 3746 1689 1501 143.9 10.9 315 3056 0.00 2.12 0.00 0.000 1030 0.000 0.050 2638 2328 1594 1688 1501 0 0 0 0 0 0 25.85 25.80 25.86

3176 0.63 146.6 2637 2329 1689 1501 129.7 11.2 328 3180 0.00 2.10 0.00 0.000 516 0.000 0.057 2646 943 1594 1689 1500 0 0 0 0 0 0 26.16 25.92 26.17

3230 0.63 146.6 2646 927 1688 1501 124.3 11.1 333 3237 0.00 2.15 0.00 0.000 1030 0.000 0.052 2647 2333 1594 1689 1500 0 0 0 0 0 0 25.99 25.96 26.01

3357 0.63 146.6 2646 2333 1689 1500 109.9 10.7 346 3361 0.00 2.17 0.00 0.000 260 0.000 0.065 2647 3740 1595 1689 1501 0 0 0 0 0 0 26.28 26.03 26.29

3403 0.63 146.6 2646 3740 1689 1501 104.2 12.3 350 3407 0.00 2.10 0.00 0.000 1030 0.000 0.050 2657 2321 1595 1689 1501 0 0 0 0 0 0 26.13 26.08 26.15

3534 0.63 146.6 2657 2321 1689 1500 89.3 11.1 363 3537 0.00 2.05 0.00 0.000 516 0.000 0.057 2668 931 1595 1689 1501 0 0 0 0 0 0 26.37 26.13 26.38

3572 0.63 146.6 2668 930 1689 1501 85.4 10.8 366 3580 0.10 2.15 0.00 0.000 5126 0.149 0.052 2633 2342 1594 1689 1500 0 0 0 0 0 0 26.05 26.14 26.11

3699 0.63 146.6 2633 2342 1689 1500 73.2 8.5 379 3703 0.00 2.15 0.00 0.000 260 0.000 0.067 2633 3739 1594 1689 1500 0 0 0 0 0 0 26.43 26.17 26.44

3785 0.63 146.6 2633 3739 1689 1501 64.8 9.9 387 3789 0.00 2.08 0.00 0.000 1030 0.000 0.047 2642 2327 1595 1689 1501 0 0 0 0 0 0 26.28 26.23 26.29

3910 0.63 146.6 2643 2327 1689 1501 51.7 10.4 399 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2327 1595 1689 1501 0 0 0 0 0 0 26.49 26.51 26.51

4030 0.63 146.6 2642 2327 1689 1501 40.9 8.5 411 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2327 1595 1689 1501 0 0 0 0 0 0 26.52 26.53 26.53

4150 0.63 146.6 2642 2327 1689 1501 31.4 8.6 423 4151 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2328 1594 1688 1501 0 0 0 0 0 0 26.55 26.56 26.56

4270 0.63 146.6 2642 2327 1689 1501 20.4 9.4 435 4274 0.00 2.05 0.00 0.000 516 0.000 0.057 2653 935 1595 1689 1501 0 0 0 0 0 0 26.57 26.33 26.58

4331 0.63 146.6 2653 925 1689 1500 15.0 8.6 446 4337 0.00 2.08 0.00 0.000 1030 0.000 0.052 2653 2333 1595 1689 1501 0 0 0 0 0 0 26.39 26.34 26.41

4398 0.63 146.6 2653 2333 1689 1501 9.4 8.9 459 4405 0.00 2.15 0.00 0.000 260 0.000 0.065 2653 3743 1595 1689 1501 0 0 0 0 0 0 26.56 26.33 26.57

4467 0.63 146.6 2653 3743 1689 1500 3.7 8.5 472 4473 0.00 2.08 0.00 0.000 1030 0.000 0.050 2662 2323 1594 1688 1501 0 0 0 0 0 0 26.42 26.37 26.44

4494 end climb: SURFACE_DEPTH_REACHED

state 4494 begin surface coast

4515 end surface coast: CONTROL_FINISHED_OK

state 4515 begin surface

ID	35	HD_B	0.011518	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	25	HD_C	1.6100001e-05	ROLL_MIN	35	ALTIM_BOTTOM_PING_RANGE	0
DIVE	17	HEADING	-1	ROLL_MAX	3810	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	2332	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2332	ALTIM_TOP_MIN_OBSTACLE	1
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	0	SM_CC	350	R_PORT_OVSHOOT	57	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_VALID	1
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	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	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	275	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3970	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2100	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	540	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	7	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	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	0.30000001	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	48
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	237	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3815	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2428	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	0.004269524
RHO	1.023	P_OVSHOOT	0.0261427	FG_AHR_24V	0	SEABIRD_T_H	0.00061604282
MASS	77080	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.0033509e-05
MASS_COMP	9247	PITCH_GAIN	23	PRESSURE_YINT	-1037.434	SEABIRD_T_J	1.8499288e-06
NAV_MODE	1	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00092600001	SEABIRD_C_G	-9.6420546
FERRY_MAX	45	PITCH_AD_RATE	140	AD7714Ch0Gain	32	SEABIRD_C_H	1.1096923
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001213078
HD_A	0.0047458	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016721067

GPS1	141114,153135,4743.1372,-12224.9209,12,1.5,28,18.2,0.2,209.9,7,5.5	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,0.201
_SM_DEPTHo	1.42	KALMAN_X	-772.3,-45.8,180.9,43.8,-346.9
_SM_ANGLEo	-61.7	KALMAN_Y	1718.8,139.1,10.9,-1679.8,-655.2
GPS2	141114,153817,4743.0864,-12224.9600,13,1.6,29,18.2,0.3,203.2,7,5.8	MHEAD_RNG_PITCHd_Wd	4.4,2680,-14.6,-7.059,-17.99,3147
SPEED_LIMITS	0.071,0.217	D_GRID	180

FINISH	0.3,1.021666	_10V_AH	10.47,0.772
SM_CCo	4528,149.30,0.983,0,0,894,350.05	FG_AHR_24Vo	0.000
SM_GC	1.37,6.15,0.00,149.30,0.055,0.000,0.983,215,2323,894,-6.77,-0.28,350.05,0,0,0,0,0,0,26.38,26.53,24.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12234.89,141114,140725	MEM	322868
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	26986,481
HUMID	64.88	CAP_FILE_SIZE	88876,0
INTERNAL_PRESSURE	8.21321	CFSIZE	1024409600,1015545856
TCM_TEMP	19.30	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	INTR	2,4518.52,0x2389de,7,5
ALTIM_BOTTOM_PING	125.7,72.6	GPS	141114,165828,4743.203,-12225.019,9,2.0,36,18.2,0.0,254.1,7,7.0
_24V_AH	23.86,3.235

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	240	85.19	SBE_CT	327	56	439.37
Roll_motor	84	67	135.89	AA4330	634	15	238.15
VBD_pump_during_apogee	209	1107	5534.96	nil	0	0	0.00
VBD_pump_during_surface	149	983	3502.69	nil	0	0	0.00
VBD_valve	112	104	279.93	nil	0	0	0.00
Iridium_during_init	23	52	29.49	nil	0	0	0.00
Iridium_during_connect	14	160	56.79	nil	0	0	0.00
Iridium_during_xfer	255	223	1361.28	nil	0	0	0.00
Transponder_ping	4	420	40.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	26	8.94
TT8	1206	9	125.97
LPSleep	2063	2	47.31
TT8_Active	503	9	52.53
TT8_Sampling	1248	31	414.34
TT8_CF8	75	39	31.45
TT8_Kalman	33	52	18.35
Analog_circuits	1048	11	120.77
GPS_charging	0	0	0.00
Compass	900	20	190.55
RAFOS	0	0	0.00
Transponder	13	30	4.22

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	-0.63	-146.6	227	2331	990	801	0.0	0.0	0	118	0.00	0.00	-99.35	0.092	16386	0.000	0.000	227	2332	2305	2295	2315	0	0	0	0	0	0	26.04	28.83	26.05
121	-0.63	-146.6	227	2331	2295	2315	3.3	-2.9	18	145	7.47	0.00	-13.15	0.104	18438	0.241	0.000	2222	2331	2605	2595	2615	0	0	0	0	0	0	25.56	25.79	25.71
206	-0.63	-146.6	2222	2331	2598	2602	12.7	-8.4	34	213	0.00	2.22	0.00	0.000	260	0.000	0.065	2214	3743	2600	2598	2602	0	0	0	0	0	0	26.09	25.84	26.10
260	-0.63	-146.6	2214	3743	2598	2601	18.0	-9.8	44	267	0.00	2.12	0.00	0.000	1030	0.000	0.050	2214	2326	2599	2598	2600	0	0	0	0	0	0	25.96	25.91	25.98
334	-0.63	-146.6	2214	2326	2601	2596	24.4	-7.7	53	337	0.00	2.10	0.00	0.000	516	0.000	0.057	2214	921	2598	2601	2595	0	0	0	0	0	0	26.20	25.96	26.21
429	-0.63	-146.6	2214	921	2609	2588	33.3	-10.2	62	433	0.00	2.10	0.00	0.000	1030	0.000	0.055	2210	2325	2599	2609	2589	0	0	0	0	0	0	26.08	26.01	26.10
554	-0.63	-146.6	2210	2325	2609	2588	44.0	-8.5	74	558	0.00	2.20	0.00	0.000	260	0.000	0.065	2210	3755	2598	2609	2588	0	0	0	0	0	0	26.34	26.08	26.34
583	-0.63	-146.6	2210	3755	2609	2588	46.1	-8.2	76	590	0.00	2.17	0.00	0.000	1030	0.000	0.047	2211	2322	2598	2609	2588	0	0	0	0	0	0	26.17	26.12	26.16
710	-0.63	-146.6	2210	2322	2609	2588	55.9	-7.4	89	714	0.00	2.05	0.00	0.000	516	0.000	0.057	2210	942	2598	2609	2588	0	0	0	0	0	0	26.40	26.15	26.41
751	-0.63	-146.6	2210	924	2611	2585	59.1	-7.6	93	755	0.00	2.10	0.00	0.000	1030	0.000	0.055	2210	2335	2598	2611	2586	0	0	0	0	0	0	26.22	26.16	26.25
876	-0.63	-146.6	2210	2335	2610	2586	68.5	-7.2	105	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2335	2598	2610	2586	0	0	0	0	0	0	26.46	26.47	26.46
996	-0.63	-146.6	2210	2335	2610	2585	76.9	-6.6	117	1000	0.00	2.15	0.00	0.000	260	0.000	0.065	2211	3745	2598	2611	2586	0	0	0	0	0	0	26.49	26.24	26.50
1031	-0.63	-146.6	2210	3745	2610	2586	79.6	-7.6	120	1035	0.00	2.10	0.00	0.000	1030	0.000	0.050	2210	2321	2598	2610	2586	0	0	0	0	0	0	26.32	26.27	26.33
1156	-0.63	-146.6	2210	2321	2610	2585	87.8	-7.1	132	1160	0.00	2.05	0.00	0.000	516	0.000	0.057	2210	916	2598	2610	2586	0	0	0	0	0	0	26.53	26.28	26.53
1185	-0.63	-146.6	2210	916	2611	2585	90.0	-7.4	134	1192	0.00	2.15	0.00	0.000	1030	0.000	0.052	2210	2333	2598	2611	2585	0	0	0	0	0	0	26.31	26.28	26.33
1312	-0.63	-146.6	2210	2333	2610	2584	99.5	-7.2	147	1316	0.00	2.15	0.00	0.000	260	0.000	0.065	2210	3746	2597	2611	2584	0	0	0	0	0	0	26.55	26.30	26.57
1358	-0.63	-146.6	2210	3746	2611	2585	102.8	-7.2	151	1362	0.00	2.08	0.00	0.000	1030	0.000	0.050	2210	2331	2598	2611	2585	0	0	0	0	0	0	26.39	26.34	26.40
1483	-0.63	-146.6	2210	2331	2610	2585	112.0	-7.5	163	1487	0.00	2.08	0.00	0.000	516	0.000	0.057	2210	926	2597	2611	2584	0	0	0	0	0	0	26.58	26.34	26.60
1547	-0.63	-146.6	2210	918	2611	2584	116.7	-8.1	169	1554	0.00	2.15	0.00	0.000	1030	0.000	0.052	2210	2338	2597	2611	2584	0	0	0	0	0	0	26.37	26.34	26.39
1674	-0.63	-146.6	2210	2337	2611	2584	126.6	-7.2	182	1675	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2338	2597	2611	2584	0	0	0	0	0	0	26.60	26.62	26.62
1794	-0.63	-146.6	2210	2337	2611	2584	134.4	-6.0	194	1798	0.00	2.08	0.00	0.000	516	0.000	0.055	2210	933	2597	2611	2584	0	0	0	0	0	0	26.63	26.39	26.64
1857	-0.63	-146.6	2210	922	2611	2584	138.6	-7.8	200	1864	0.00	2.12	0.00	0.000	1030	0.000	0.052	2210	2328	2597	2611	2584	0	0	0	0	0	0	26.41	26.39	26.44
1984	-0.63	-146.6	2210	2329	2611	2584	147.0	-6.1	213	1988	0.00	2.17	0.00	0.000	260	0.000	0.065	2210	3750	2597	2610	2584	0	0	0	0	0	0	26.65	26.39	26.66
2130	-0.63	-146.6	2210	3750	2610	2584	156.9	-7.0	227	2134	0.00	2.08	0.00	0.000	1030	0.000	0.050	2210	2331	2597	2610	2584	0	0	0	0	0	0	26.48	26.44	26.50
2255	-0.63	-146.6	2210	2331	2610	2584	164.5	-6.5	239	2259	0.00	2.17	0.00	0.000	260	0.000	0.065	2210	3746	2597	2611	2584	0	0	0	0	0	0	26.67	26.41	26.69
2304	-0.63	-146.6	2209	3746	2610	2584	167.6	-6.8	243	2311	0.00	2.12	0.00	0.000	1030	0.000	0.047	2210	2331	2597	2610	2584	0	0	0	0	0	0	26.48	26.46	26.49
2431	-0.63	-146.6	2210	2331	2611	2584	175.5	-5.9	256	2435	0.00	2.05	0.00	0.000	516	0.000	0.057	2210	919	2597	2611	2583	0	0	0	0	0	0	26.69	26.44	26.70
2487	-0.63	-146.6	2210	919	2611	2584	178.9	-6.2	261	2491	0.00	2.08	0.00	0.000	1030	0.000	0.052	2210	2332	2597	2611	2584	0	0	0	0	0	0	26.50	26.44	26.52
2511	end dive: TARGET_DEPTH_EXCEEDED
state	2511	begin apogee
2514	-0.22	0.0	2209	2331	2611	2584	180.8	-7.0	263	2623	0.43	0.00	101.68	1.107	10246	0.122	0.000	2363	2332	2101	2155	2047	0	0	0	0	0	0	26.37	24.52	24.07
2624	end apogee: CONTROL_FINISHED_OK
state	2624	begin climb
2625	0.63	146.6	2363	2332	2155	2047	183.4	0.0	274	2744	0.68	2.28	107.80	1.070	10756	0.089	0.060	2626	932	1595	1691	1500	0	0	0	0	0	0	24.86	24.47	23.86
2796	0.63	146.6	2626	932	1690	1499	170.2	10.5	291	2800	0.00	2.17	0.00	0.000	1030	0.000	0.052	2626	2337	1595	1691	1500	0	0	0	0	0	0	25.24	25.18	25.25
2921	0.63	146.6	2626	2338	1690	1500	157.4	10.4	303	2925	0.00	2.22	0.00	0.000	260	0.000	0.065	2626	3746	1595	1691	1500	0	0	0	0	0	0	25.82	25.58	25.83
3047	0.63	146.6	2626	3746	1689	1501	143.9	10.9	315	3056	0.00	2.12	0.00	0.000	1030	0.000	0.050	2638	2328	1594	1688	1501	0	0	0	0	0	0	25.85	25.80	25.86
3176	0.63	146.6	2637	2329	1689	1501	129.7	11.2	328	3180	0.00	2.10	0.00	0.000	516	0.000	0.057	2646	943	1594	1689	1500	0	0	0	0	0	0	26.16	25.92	26.17
3230	0.63	146.6	2646	927	1688	1501	124.3	11.1	333	3237	0.00	2.15	0.00	0.000	1030	0.000	0.052	2647	2333	1594	1689	1500	0	0	0	0	0	0	25.99	25.96	26.01
3357	0.63	146.6	2646	2333	1689	1500	109.9	10.7	346	3361	0.00	2.17	0.00	0.000	260	0.000	0.065	2647	3740	1595	1689	1501	0	0	0	0	0	0	26.28	26.03	26.29
3403	0.63	146.6	2646	3740	1689	1501	104.2	12.3	350	3407	0.00	2.10	0.00	0.000	1030	0.000	0.050	2657	2321	1595	1689	1501	0	0	0	0	0	0	26.13	26.08	26.15
3534	0.63	146.6	2657	2321	1689	1500	89.3	11.1	363	3537	0.00	2.05	0.00	0.000	516	0.000	0.057	2668	931	1595	1689	1501	0	0	0	0	0	0	26.37	26.13	26.38
3572	0.63	146.6	2668	930	1689	1501	85.4	10.8	366	3580	0.10	2.15	0.00	0.000	5126	0.149	0.052	2633	2342	1594	1689	1500	0	0	0	0	0	0	26.05	26.14	26.11
3699	0.63	146.6	2633	2342	1689	1500	73.2	8.5	379	3703	0.00	2.15	0.00	0.000	260	0.000	0.067	2633	3739	1594	1689	1500	0	0	0	0	0	0	26.43	26.17	26.44
3785	0.63	146.6	2633	3739	1689	1501	64.8	9.9	387	3789	0.00	2.08	0.00	0.000	1030	0.000	0.047	2642	2327	1595	1689	1501	0	0	0	0	0	0	26.28	26.23	26.29
3910	0.63	146.6	2643	2327	1689	1501	51.7	10.4	399	3911	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2327	1595	1689	1501	0	0	0	0	0	0	26.49	26.51	26.51
4030	0.63	146.6	2642	2327	1689	1501	40.9	8.5	411	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2327	1595	1689	1501	0	0	0	0	0	0	26.52	26.53	26.53
4150	0.63	146.6	2642	2327	1689	1501	31.4	8.6	423	4151	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2328	1594	1688	1501	0	0	0	0	0	0	26.55	26.56	26.56
4270	0.63	146.6	2642	2327	1689	1501	20.4	9.4	435	4274	0.00	2.05	0.00	0.000	516	0.000	0.057	2653	935	1595	1689	1501	0	0	0	0	0	0	26.57	26.33	26.58
4331	0.63	146.6	2653	925	1689	1500	15.0	8.6	446	4337	0.00	2.08	0.00	0.000	1030	0.000	0.052	2653	2333	1595	1689	1501	0	0	0	0	0	0	26.39	26.34	26.41
4398	0.63	146.6	2653	2333	1689	1501	9.4	8.9	459	4405	0.00	2.15	0.00	0.000	260	0.000	0.065	2653	3743	1595	1689	1501	0	0	0	0	0	0	26.56	26.33	26.57
4467	0.63	146.6	2653	3743	1689	1500	3.7	8.5	472	4473	0.00	2.08	0.00	0.000	1030	0.000	0.050	2662	2323	1594	1688	1501	0	0	0	0	0	0	26.42	26.37	26.44
4494	end climb: SURFACE_DEPTH_REACHED
state	4494	begin surface coast
4515	end surface coast: CONTROL_FINISHED_OK
state	4515	begin surface