Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 18 * 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 18 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 12 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 51 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 -989810.69 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 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 -989810.69

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 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 12 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 51 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 18 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 070214,153135,4742.999,-12224.438,25,1.5,25,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.020,0.212

_SM_DEPTHo 1.24 KALMAN_X -672.6,-226.6,219.1,859.1,-139.6

_SM_ANGLEo -69.5 KALMAN_Y -143.3,-1186.2,215.6,-1112.8,-279.8

GPS2 070214,153607,4742.999,-12224.418,14,1.4,14,18.2 MHEAD_RNG_PITCHd_Wd 347.2,2783,-13.8,-6.667,-17.39,3328

SPEED_LIMITS 0.067,0.213 D_GRID 180

Post-dive calculations and measurements:

FINISH 3.4,1.023016 _24V_AH 23.3,39.192

SM_CCo 4795,55.40,0.916,0,0,2351,300.22 _10V_AH 10.4,5.007

SM_GC 2.02,8.23,2.20,55.40,0.084,0.055,0.916,244,1766,2351,-8.55,1.27,300.22,0,0,0,0,0,0,25.68,25.84,24.18 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12216.25,070214,141429 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.019474 MEM 354604

HUMID 40.15 DATA_FILE_SIZE 30173,511

INTERNAL_PRESSURE 8.46712 CAP_FILE_SIZE 80588,0

TCM_TEMP 17.50 CFSIZE 260165632,242106368

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

ALTIM_TOP_PING 19.1,18.9 GPS 070214,165908,4743.234,-12224.478,12,3.6,32,18.2

ALTIM_BOTTOM_PING 155.4,31.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 115.42 SBE_CT 349 56 457.44

Roll_motor 65 72 110.27 AA4330 672 15 246.58

VBD_pump_during_apogee 258 1030 6195.02 nil 0 0 0.00

VBD_pump_during_surface 55 916 1182.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 52 35.35 nil 0 0 0.00

Iridium_during_connect 36 160 135.99 nil 0 0 0.00

Iridium_during_xfer 111 223 577.27 nil 0 0 0.00

Transponder_ping 6 420 63.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.90

TT8 1217 9 126.24

LPSleep 2165 2 49.33

TT8_Active 457 9 47.48

TT8_Sampling 1190 31 392.30

TT8_CF8 106 39 44.07

TT8_Kalman 33 52 18.19

Analog_circuits 1050 11 120.14

GPS_charging 0 0 0.00

Compass 963 20 202.63

RAFOS 0 0 0.00

Transponder 41 30 13.05

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.6 245 1720 2316 2387 0.0 0.0 0 111 0.00 0.00 -92.95 0.000 16386 0.000 0.000 245 1721 3459 3419 3500 0 0 0 0 0 0 28.83 28.83 28.83

114 -0.57 -146.6 245 1721 3419 3501 3.3 -1.6 17 149 10.55 2.25 -17.00 0.000 18692 0.248 0.067 2801 3128 3866 3832 3900 0 0 0 0 0 0 24.84 25.36 25.28

377 -0.57 -146.6 2800 3128 3832 3900 32.2 -9.7 56 386 0.00 2.22 0.00 0.000 1030 0.000 0.057 2801 1701 3866 3832 3900 0 0 0 0 0 0 28.83 25.63 28.83

507 -0.57 -146.6 2801 1701 3832 3900 44.8 -9.4 69 516 0.00 2.30 0.00 0.000 260 0.000 0.070 2800 3135 3866 3832 3900 0 0 0 0 0 0 28.83 25.63 28.83

639 -0.57 -146.6 2800 3135 3832 3900 56.7 -8.8 82 648 0.00 2.15 0.00 0.000 1030 0.000 0.060 2800 1732 3866 3832 3900 0 0 0 0 0 0 28.83 25.76 28.83

768 -0.57 -146.6 2800 1731 3832 3900 68.1 -9.1 95 769 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1732 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

888 -0.57 -146.6 2800 1732 3832 3900 77.7 -7.5 107 897 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3134 3866 3832 3900 0 0 0 0 0 0 28.83 25.75 28.83

939 -0.57 -146.6 2800 3134 3832 3900 81.8 -7.8 112 948 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1732 3866 3832 3900 0 0 0 0 0 0 28.83 25.86 28.83

1070 -0.57 -146.6 2800 1732 3832 3900 92.3 -7.7 125 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1732 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

1189 -0.57 -146.6 2800 1732 3833 3900 102.1 -8.2 137 1198 0.00 2.20 0.00 0.000 260 0.000 0.067 2800 3129 3866 3832 3900 0 0 0 0 0 0 28.83 25.82 28.83

1293 -0.57 -146.6 2800 3129 3832 3900 110.4 -8.2 147 1300 0.00 2.15 0.00 0.000 1030 0.000 0.057 2800 1732 3866 3832 3900 0 0 0 0 0 0 28.83 25.92 28.83

1420 -0.57 -146.6 2800 1732 3833 3900 120.9 -7.5 160 1429 0.00 2.20 0.00 0.000 260 0.000 0.067 2800 3130 3866 3832 3900 0 0 0 0 0 0 28.83 25.85 28.83

1464 -0.57 -146.6 2800 3130 3832 3900 124.1 -7.4 164 1471 0.00 2.17 0.00 0.000 1030 0.000 0.057 2800 1727 3866 3832 3900 0 0 0 0 0 0 28.83 25.95 28.83

1591 -0.57 -146.6 2800 1727 3832 3900 133.5 -6.8 177 1593 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 1727 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

1711 -0.57 -146.6 2800 1727 3832 3900 141.6 -7.0 189 1720 0.00 2.20 0.00 0.000 260 0.000 0.067 2800 3128 3866 3832 3900 0 0 0 0 0 0 28.83 25.88 28.83

1786 -0.57 -146.6 2800 3128 3832 3900 146.4 -6.5 196 1792 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1734 3866 3832 3900 0 0 0 0 0 0 28.83 25.98 28.83

1916 -0.57 -146.6 2800 1734 3832 3900 155.4 -7.5 209 1922 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1734 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

2042 -0.57 -146.6 2800 1734 3832 3900 164.6 -7.1 222 2051 0.00 2.17 0.00 0.000 260 0.000 0.067 2800 3128 3866 3832 3900 0 0 0 0 0 0 28.83 25.91 28.83

2124 -0.57 -146.6 2800 3128 3832 3900 170.5 -6.0 230 2132 0.00 2.10 0.00 0.000 1030 0.000 0.057 2800 1733 3866 3832 3900 0 0 0 0 0 0 28.83 26.01 28.83

2211 end dive: BOTTOM_OBSTACLE_DETECTED

state 2212 begin apogee

2216 -0.21 0.0 2799 1733 3832 3900 176.8 -6.5 239 2324 0.38 0.00 102.20 1.030 10246 0.127 0.000 2928 1733 3368 3340 3396 0 0 0 0 0 0 25.70 28.83 23.72

2324 end apogee: CONTROL_FINISHED_OK

state 2325 begin climb

2328 0.57 146.6 2928 1733 3340 3396 180.2 0.0 250 2436 0.68 0.00 104.18 0.916 10758 0.094 0.000 3164 1733 2871 2845 2897 0 0 0 0 0 0 24.63 28.83 23.28

2554 0.57 177.6 3164 1733 2845 2897 170.9 5.7 273 2584 0.00 2.33 23.08 0.916 8452 0.000 0.067 3164 3124 2766 2741 2791 0 0 0 0 0 0 28.83 24.56 23.54

2649 0.57 177.6 3163 3124 2740 2791 164.1 7.1 282 2656 0.00 2.22 0.00 0.000 1030 0.000 0.055 3173 1734 2766 2741 2791 0 0 0 0 0 0 28.83 24.96 28.83

2776 0.57 177.6 3172 1734 2740 2791 154.3 7.7 295 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1734 2765 2740 2791 0 0 0 0 0 0 28.83 28.83 28.83

2896 0.57 177.6 3173 1733 2740 2790 145.6 7.4 307 2905 0.00 2.25 0.00 0.000 260 0.000 0.067 3173 3125 2766 2741 2791 0 0 0 0 0 0 28.83 25.39 28.83

2947 0.57 177.6 3173 3125 2740 2791 141.9 8.2 312 2956 0.00 2.17 0.00 0.000 1030 0.000 0.057 3181 1731 2765 2740 2791 0 0 0 0 0 0 28.83 25.51 28.83

3077 0.57 177.6 3181 1731 2740 2791 132.0 7.2 325 3086 0.00 2.20 0.00 0.000 516 0.000 0.070 3191 334 2766 2741 2791 0 0 0 0 0 0 28.83 25.53 28.83

3138 0.57 177.6 3191 335 2740 2791 127.3 8.1 331 3147 0.00 2.12 0.00 0.000 1030 0.000 0.055 3191 1743 2765 2740 2791 0 0 0 0 0 0 28.83 25.67 28.83

3268 0.57 177.6 3191 1743 2740 2791 117.5 8.1 344 3277 0.00 2.20 0.00 0.000 260 0.000 0.070 3191 3134 2765 2740 2791 0 0 0 0 0 0 28.83 25.64 28.83

3319 0.57 177.6 3191 3134 2740 2791 113.4 8.3 349 3328 0.00 2.15 0.00 0.000 1030 0.000 0.057 3202 1732 2765 2740 2791 0 0 0 0 0 0 28.83 25.74 28.83

3449 0.57 177.6 3201 1732 2740 2791 102.6 8.1 362 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 1732 2765 2740 2791 0 0 0 0 0 0 28.83 28.83 28.83

3569 0.57 177.6 3201 1732 2740 2791 93.4 7.7 374 3578 0.00 2.22 0.00 0.000 260 0.000 0.070 3201 3131 2765 2740 2791 0 0 0 0 0 0 28.83 25.75 28.83

3650 0.57 177.6 3201 3131 2740 2791 86.6 8.0 382 3659 0.12 2.12 0.00 0.000 5126 0.174 0.057 3179 1734 2765 2740 2791 0 0 0 0 0 0 25.60 25.85 28.83

3780 0.57 179.2 3178 1734 2740 2791 77.8 6.6 395 3781 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1734 2765 2740 2791 0 0 0 0 0 0 28.83 28.83 28.83

3900 0.57 179.7 3178 1734 2741 2791 69.8 6.7 407 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1734 2765 2740 2791 0 0 0 0 0 0 28.83 28.83 28.83

4020 0.57 179.7 3179 1734 2740 2791 61.5 6.9 419 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1734 2765 2740 2791 0 0 0 0 0 0 28.83 28.83 28.83

4140 0.57 217.3 3178 1734 2740 2791 53.7 5.5 431 4174 0.00 2.22 28.58 0.934 8452 0.000 0.070 3179 3127 2630 2605 2656 0 0 0 0 0 0 28.83 25.50 24.49

4261 0.57 217.3 3178 3127 2605 2655 45.5 7.6 442 4267 0.00 2.17 0.00 0.000 1030 0.000 0.057 3188 1732 2630 2605 2656 0 0 0 0 0 0 28.83 25.60 28.83

4386 0.57 217.3 3188 1732 2604 2656 36.0 7.3 455 4387 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 1732 2630 2605 2656 0 0 0 0 0 0 28.83 28.83 28.83

4506 0.57 217.3 3188 1732 2605 2656 26.6 7.6 467 4515 0.00 2.17 0.00 0.000 516 0.000 0.072 3199 337 2630 2605 2656 0 0 0 0 0 0 28.83 25.66 28.83

4580 0.57 217.3 3198 337 2605 2656 20.7 8.3 474 4587 0.00 2.12 0.00 0.000 1030 0.000 0.057 3199 1732 2630 2605 2656 0 0 0 0 0 0 28.83 25.79 28.83

4708 0.57 217.3 3198 1732 2605 2656 10.0 8.9 498 4715 0.00 2.22 0.00 0.000 260 0.000 0.067 3199 3135 2630 2605 2656 0 0 0 0 0 0 28.83 25.73 28.83

4770 end climb: SURFACE_DEPTH_REACHED

state 4770 begin surface coast

4776 end surface coast: CONTROL_FINISHED_OK

state 4776 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	18	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	12	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	51	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	-989810.69	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	070214,153135,4742.999,-12224.438,25,1.5,25,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.020,0.212
_SM_DEPTHo	1.24	KALMAN_X	-672.6,-226.6,219.1,859.1,-139.6
_SM_ANGLEo	-69.5	KALMAN_Y	-143.3,-1186.2,215.6,-1112.8,-279.8
GPS2	070214,153607,4742.999,-12224.418,14,1.4,14,18.2	MHEAD_RNG_PITCHd_Wd	347.2,2783,-13.8,-6.667,-17.39,3328
SPEED_LIMITS	0.067,0.213	D_GRID	180

FINISH	3.4,1.023016	_24V_AH	23.3,39.192
SM_CCo	4795,55.40,0.916,0,0,2351,300.22	_10V_AH	10.4,5.007
SM_GC	2.02,8.23,2.20,55.40,0.084,0.055,0.916,244,1766,2351,-8.55,1.27,300.22,0,0,0,0,0,0,25.68,25.84,24.18	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12216.25,070214,141429	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.019474	MEM	354604
HUMID	40.15	DATA_FILE_SIZE	30173,511
INTERNAL_PRESSURE	8.46712	CAP_FILE_SIZE	80588,0
TCM_TEMP	17.50	CFSIZE	260165632,242106368
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.1,18.9	GPS	070214,165908,4743.234,-12224.478,12,3.6,32,18.2
ALTIM_BOTTOM_PING	155.4,31.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	115.42	SBE_CT	349	56	457.44
Roll_motor	65	72	110.27	AA4330	672	15	246.58
VBD_pump_during_apogee	258	1030	6195.02	nil	0	0	0.00
VBD_pump_during_surface	55	916	1182.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	52	35.35	nil	0	0	0.00
Iridium_during_connect	36	160	135.99	nil	0	0	0.00
Iridium_during_xfer	111	223	577.27	nil	0	0	0.00
Transponder_ping	6	420	63.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.90
TT8	1217	9	126.24
LPSleep	2165	2	49.33
TT8_Active	457	9	47.48
TT8_Sampling	1190	31	392.30
TT8_CF8	106	39	44.07
TT8_Kalman	33	52	18.19
Analog_circuits	1050	11	120.14
GPS_charging	0	0	0.00
Compass	963	20	202.63
RAFOS	0	0	0.00
Transponder	41	30	13.05

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.6	245	1720	2316	2387	0.0	0.0	0	111	0.00	0.00	-92.95	0.000	16386	0.000	0.000	245	1721	3459	3419	3500	0	0	0	0	0	0	28.83	28.83	28.83
114	-0.57	-146.6	245	1721	3419	3501	3.3	-1.6	17	149	10.55	2.25	-17.00	0.000	18692	0.248	0.067	2801	3128	3866	3832	3900	0	0	0	0	0	0	24.84	25.36	25.28
377	-0.57	-146.6	2800	3128	3832	3900	32.2	-9.7	56	386	0.00	2.22	0.00	0.000	1030	0.000	0.057	2801	1701	3866	3832	3900	0	0	0	0	0	0	28.83	25.63	28.83
507	-0.57	-146.6	2801	1701	3832	3900	44.8	-9.4	69	516	0.00	2.30	0.00	0.000	260	0.000	0.070	2800	3135	3866	3832	3900	0	0	0	0	0	0	28.83	25.63	28.83
639	-0.57	-146.6	2800	3135	3832	3900	56.7	-8.8	82	648	0.00	2.15	0.00	0.000	1030	0.000	0.060	2800	1732	3866	3832	3900	0	0	0	0	0	0	28.83	25.76	28.83
768	-0.57	-146.6	2800	1731	3832	3900	68.1	-9.1	95	769	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1732	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
888	-0.57	-146.6	2800	1732	3832	3900	77.7	-7.5	107	897	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3134	3866	3832	3900	0	0	0	0	0	0	28.83	25.75	28.83
939	-0.57	-146.6	2800	3134	3832	3900	81.8	-7.8	112	948	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1732	3866	3832	3900	0	0	0	0	0	0	28.83	25.86	28.83
1070	-0.57	-146.6	2800	1732	3832	3900	92.3	-7.7	125	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1732	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
1189	-0.57	-146.6	2800	1732	3833	3900	102.1	-8.2	137	1198	0.00	2.20	0.00	0.000	260	0.000	0.067	2800	3129	3866	3832	3900	0	0	0	0	0	0	28.83	25.82	28.83
1293	-0.57	-146.6	2800	3129	3832	3900	110.4	-8.2	147	1300	0.00	2.15	0.00	0.000	1030	0.000	0.057	2800	1732	3866	3832	3900	0	0	0	0	0	0	28.83	25.92	28.83
1420	-0.57	-146.6	2800	1732	3833	3900	120.9	-7.5	160	1429	0.00	2.20	0.00	0.000	260	0.000	0.067	2800	3130	3866	3832	3900	0	0	0	0	0	0	28.83	25.85	28.83
1464	-0.57	-146.6	2800	3130	3832	3900	124.1	-7.4	164	1471	0.00	2.17	0.00	0.000	1030	0.000	0.057	2800	1727	3866	3832	3900	0	0	0	0	0	0	28.83	25.95	28.83
1591	-0.57	-146.6	2800	1727	3832	3900	133.5	-6.8	177	1593	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	1727	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
1711	-0.57	-146.6	2800	1727	3832	3900	141.6	-7.0	189	1720	0.00	2.20	0.00	0.000	260	0.000	0.067	2800	3128	3866	3832	3900	0	0	0	0	0	0	28.83	25.88	28.83
1786	-0.57	-146.6	2800	3128	3832	3900	146.4	-6.5	196	1792	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1734	3866	3832	3900	0	0	0	0	0	0	28.83	25.98	28.83
1916	-0.57	-146.6	2800	1734	3832	3900	155.4	-7.5	209	1922	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1734	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
2042	-0.57	-146.6	2800	1734	3832	3900	164.6	-7.1	222	2051	0.00	2.17	0.00	0.000	260	0.000	0.067	2800	3128	3866	3832	3900	0	0	0	0	0	0	28.83	25.91	28.83
2124	-0.57	-146.6	2800	3128	3832	3900	170.5	-6.0	230	2132	0.00	2.10	0.00	0.000	1030	0.000	0.057	2800	1733	3866	3832	3900	0	0	0	0	0	0	28.83	26.01	28.83
2211	end dive: BOTTOM_OBSTACLE_DETECTED
state	2212	begin apogee
2216	-0.21	0.0	2799	1733	3832	3900	176.8	-6.5	239	2324	0.38	0.00	102.20	1.030	10246	0.127	0.000	2928	1733	3368	3340	3396	0	0	0	0	0	0	25.70	28.83	23.72
2324	end apogee: CONTROL_FINISHED_OK
state	2325	begin climb
2328	0.57	146.6	2928	1733	3340	3396	180.2	0.0	250	2436	0.68	0.00	104.18	0.916	10758	0.094	0.000	3164	1733	2871	2845	2897	0	0	0	0	0	0	24.63	28.83	23.28
2554	0.57	177.6	3164	1733	2845	2897	170.9	5.7	273	2584	0.00	2.33	23.08	0.916	8452	0.000	0.067	3164	3124	2766	2741	2791	0	0	0	0	0	0	28.83	24.56	23.54
2649	0.57	177.6	3163	3124	2740	2791	164.1	7.1	282	2656	0.00	2.22	0.00	0.000	1030	0.000	0.055	3173	1734	2766	2741	2791	0	0	0	0	0	0	28.83	24.96	28.83
2776	0.57	177.6	3172	1734	2740	2791	154.3	7.7	295	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1734	2765	2740	2791	0	0	0	0	0	0	28.83	28.83	28.83
2896	0.57	177.6	3173	1733	2740	2790	145.6	7.4	307	2905	0.00	2.25	0.00	0.000	260	0.000	0.067	3173	3125	2766	2741	2791	0	0	0	0	0	0	28.83	25.39	28.83
2947	0.57	177.6	3173	3125	2740	2791	141.9	8.2	312	2956	0.00	2.17	0.00	0.000	1030	0.000	0.057	3181	1731	2765	2740	2791	0	0	0	0	0	0	28.83	25.51	28.83
3077	0.57	177.6	3181	1731	2740	2791	132.0	7.2	325	3086	0.00	2.20	0.00	0.000	516	0.000	0.070	3191	334	2766	2741	2791	0	0	0	0	0	0	28.83	25.53	28.83
3138	0.57	177.6	3191	335	2740	2791	127.3	8.1	331	3147	0.00	2.12	0.00	0.000	1030	0.000	0.055	3191	1743	2765	2740	2791	0	0	0	0	0	0	28.83	25.67	28.83
3268	0.57	177.6	3191	1743	2740	2791	117.5	8.1	344	3277	0.00	2.20	0.00	0.000	260	0.000	0.070	3191	3134	2765	2740	2791	0	0	0	0	0	0	28.83	25.64	28.83
3319	0.57	177.6	3191	3134	2740	2791	113.4	8.3	349	3328	0.00	2.15	0.00	0.000	1030	0.000	0.057	3202	1732	2765	2740	2791	0	0	0	0	0	0	28.83	25.74	28.83
3449	0.57	177.6	3201	1732	2740	2791	102.6	8.1	362	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	1732	2765	2740	2791	0	0	0	0	0	0	28.83	28.83	28.83
3569	0.57	177.6	3201	1732	2740	2791	93.4	7.7	374	3578	0.00	2.22	0.00	0.000	260	0.000	0.070	3201	3131	2765	2740	2791	0	0	0	0	0	0	28.83	25.75	28.83
3650	0.57	177.6	3201	3131	2740	2791	86.6	8.0	382	3659	0.12	2.12	0.00	0.000	5126	0.174	0.057	3179	1734	2765	2740	2791	0	0	0	0	0	0	25.60	25.85	28.83
3780	0.57	179.2	3178	1734	2740	2791	77.8	6.6	395	3781	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	1734	2765	2740	2791	0	0	0	0	0	0	28.83	28.83	28.83
3900	0.57	179.7	3178	1734	2741	2791	69.8	6.7	407	3902	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	1734	2765	2740	2791	0	0	0	0	0	0	28.83	28.83	28.83
4020	0.57	179.7	3179	1734	2740	2791	61.5	6.9	419	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	1734	2765	2740	2791	0	0	0	0	0	0	28.83	28.83	28.83
4140	0.57	217.3	3178	1734	2740	2791	53.7	5.5	431	4174	0.00	2.22	28.58	0.934	8452	0.000	0.070	3179	3127	2630	2605	2656	0	0	0	0	0	0	28.83	25.50	24.49
4261	0.57	217.3	3178	3127	2605	2655	45.5	7.6	442	4267	0.00	2.17	0.00	0.000	1030	0.000	0.057	3188	1732	2630	2605	2656	0	0	0	0	0	0	28.83	25.60	28.83
4386	0.57	217.3	3188	1732	2604	2656	36.0	7.3	455	4387	0.00	0.00	0.00	0.000	6	0.000	0.000	3189	1732	2630	2605	2656	0	0	0	0	0	0	28.83	28.83	28.83
4506	0.57	217.3	3188	1732	2605	2656	26.6	7.6	467	4515	0.00	2.17	0.00	0.000	516	0.000	0.072	3199	337	2630	2605	2656	0	0	0	0	0	0	28.83	25.66	28.83
4580	0.57	217.3	3198	337	2605	2656	20.7	8.3	474	4587	0.00	2.12	0.00	0.000	1030	0.000	0.057	3199	1732	2630	2605	2656	0	0	0	0	0	0	28.83	25.79	28.83
4708	0.57	217.3	3198	1732	2605	2656	10.0	8.9	498	4715	0.00	2.22	0.00	0.000	260	0.000	0.067	3199	3135	2630	2605	2656	0	0	0	0	0	0	28.83	25.73	28.83
4770	end climb: SURFACE_DEPTH_REACHED
state	4770	begin surface coast
4776	end surface coast: CONTROL_FINISHED_OK
state	4776	begin surface