Glider dive log

Shilshole 14Jan14 * SG204 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 HD_C 9.9999997e-06 ROLL_MAX 3704 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING 0 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2005 ALTIM_PING_DEPTH 110

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 33 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 31 XPDR_VALID 2

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.60000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2850 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 83 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -566.38641 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 210 MINV_24V 19 SIM_W 0

MAX_BUOY 110 PITCH_MAX 3900 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3061 FG_AHR_10V 0 SEABIRD_T_G 0.0043959874

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063999143

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.6240119e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -73.463333 SEABIRD_T_J 3.2438568e-06

MASS 51746 PITCH_GAIN 20 PRESSURE_SLOPE 0.0001157966 SEABIRD_C_G -9.8023682

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1326066

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012119424

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017415492

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 110 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 210 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 2

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 83

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001157966 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -73.463333 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -566.38641

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 204 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.60000002 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3061 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2005 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2850 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3704 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51746 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 110 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 31 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.8023682 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1326066 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012119424 VBD_TIMEOUT 720

DIVE 5 NOCOMM_ACTION 0 SEABIRD_C_J 0.00017415492 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043959874 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00063999143 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.6240119e-05 XPDR_VALID 2

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.2438568e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 140114,211858,4743.378,-12224.839,3,1.2,3,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.029,0.208

_SM_DEPTHo 1.47 KALMAN_X -47.8,28.4,70.6,-403.8,-101.7

_SM_ANGLEo -69.3 KALMAN_Y -838.6,-524.8,24.9,2282.4,-552.6

GPS2 140114,212437,4743.370,-12224.859,5,1.2,5,16.3 MHEAD_RNG_PITCHd_Wd 351.7,985,-16.9,-8.032,-20.91,2029

SPEED_LIMITS 0.139,0.210 D_GRID 177

Post-dive calculations and measurements:

FINISH 0.5,1.010451 _24V_AH 24.4,5.943

SM_CCo 3833,48.72,0.131,0,0,1788,260.02 _10V_AH 10.4,3.140

SM_GC 2.14,9.98,2.12,48.72,0.135,0.041,0.131,196,2033,1788,-8.87,0.90,260.02,0,0,0,0,0,0,26.83,26.84,26.47 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12232.20,140114,202052 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211,0.029211 MEM 323064

HUMID 33.26 DATA_FILE_SIZE 26773,730

INTERNAL_PRESSURE 8.75461 CAP_FILE_SIZE 80894,0

TCM_TEMP 16.90 CFSIZE 1024393216,1020608512

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

ALTIM_BOTTOM_PING 120.2,17.4 GPS 140114,223129,4743.555,-12224.703,38,1.3,38,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 283 167.59 SBE_CT 489 23 277.45

Roll_motor 65 71 114.79 nil 0 0 0.00

VBD_pump_during_apogee 209 716 3668.12 nil 0 0 0.00

VBD_pump_during_surface 48 130 155.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 20 12 6.12 nil 0 0 0.00

Iridium_during_connect 47 160 185.54 nil 0 0 0.00

Iridium_during_xfer 197 223 1072.47 nil 0 0 0.00

Transponder_ping 1 420 12.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 26 1.87

TT8 1623 18 315.85

LPSleep 824 2 18.78

TT8_Active 399 18 77.81

TT8_Sampling 1344 44 627.95

TT8_CF8 45 61 29.31

TT8_Kalman 33 68 23.79

Analog_circuits 998 15 155.72

GPS_charging 0 0 0.00

Compass 1046 8 89.70

RAFOS 0 0 0.00

Transponder 11 30 3.60

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 -0.98 -107.5 189 2039 1768 1802 0.0 0.0 0 67 0.00 0.00 -49.83 0.000 16386 0.000 0.000 190 2039 3116 3068 3164 0 0 0 0 0 0 28.83 28.83 28.83

69 -0.98 -107.5 189 2039 3068 3164 3.2 -3.4 9 93 11.88 2.22 -4.18 0.000 18948 0.284 0.072 2743 632 3290 3261 3319 0 0 0 0 0 0 25.96 26.36 26.72

274 -0.98 -107.5 2743 632 3262 3319 28.9 -11.5 49 281 0.00 2.17 0.00 0.000 1030 0.000 0.043 2733 2043 3290 3262 3319 0 0 0 0 0 0 28.83 26.55 28.83

343 -0.98 -107.5 2733 2043 3262 3319 36.7 -12.1 62 348 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2043 3290 3262 3319 0 0 0 0 0 0 28.83 28.83 28.83

410 -0.98 -107.5 2733 2043 3263 3319 44.3 -11.0 75 416 0.00 2.20 0.00 0.000 516 0.000 0.056 2743 634 3291 3263 3319 0 0 0 0 0 0 28.83 26.57 28.83

452 -0.98 -107.5 2743 634 3263 3319 49.3 -11.5 83 459 0.00 2.15 0.00 0.000 1030 0.000 0.043 2734 2045 3291 3263 3319 0 0 0 0 0 0 28.83 26.63 28.83

581 -0.98 -107.5 2734 2045 3262 3319 63.2 -10.9 108 587 0.00 2.17 0.00 0.000 260 0.000 0.057 2723 3447 3291 3263 3319 0 0 0 0 0 0 28.83 26.63 28.83

608 -0.98 -107.5 2723 3447 3264 3319 66.4 -11.1 113 615 0.00 2.12 0.00 0.000 1030 0.000 0.042 2732 2038 3291 3263 3319 0 0 0 0 0 0 28.83 26.69 28.83

738 -0.98 -107.5 2732 2037 3262 3319 79.8 -10.3 138 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2036 3291 3263 3319 0 0 0 0 0 0 28.83 28.83 28.83

865 -0.98 -107.5 2732 2036 3263 3319 93.2 -10.6 163 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2036 3291 3263 3319 0 0 0 0 0 0 28.83 28.83 28.83

993 -0.98 -107.5 2732 2037 3263 3319 106.6 -9.8 188 999 0.00 2.17 0.00 0.000 260 0.000 0.057 2723 3444 3291 3263 3319 0 0 0 0 0 0 28.83 26.73 28.83

1050 -0.98 -107.5 1736 3443 3248 3316 112.7 -10.6 199 1057 0.00 2.12 0.00 0.000 1030 0.000 0.042 2732 2027 3291 3263 3319 0 0 0 0 0 0 28.83 26.80 28.83

1183 -0.98 -107.5 2732 2026 3263 3319 126.6 -10.6 224 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2026 3291 3263 3319 0 0 0 0 0 0 28.83 28.83 28.83

1310 -0.98 -107.5 2732 2026 3263 3319 140.0 -9.9 249 1317 0.00 2.12 0.00 0.000 516 0.000 0.057 2743 637 3291 3263 3319 0 0 0 0 0 0 28.83 26.78 28.83

1348 -0.98 -107.5 2743 637 3263 3319 144.5 -11.9 256 1355 0.00 2.12 0.00 0.000 1030 0.000 0.042 2733 2045 3291 3263 3319 0 0 0 0 0 0 28.83 26.84 28.83

1476 -0.98 -107.5 2733 2044 3263 3319 158.6 -10.7 281 1483 0.00 2.17 0.00 0.000 516 0.000 0.055 2743 633 3291 3263 3319 0 0 0 0 0 0 28.83 26.81 28.83

1554 -0.98 -107.5 2743 632 3263 3318 167.1 -10.3 296 1561 0.00 2.15 0.00 0.000 1030 0.000 0.042 2734 2049 3291 3263 3319 0 0 0 0 0 0 28.83 26.86 28.83

1646 end dive: TARGET_DEPTH_EXCEEDED

state 1646 begin apogee

1649 -0.25 0.0 2733 2049 3263 3319 177.0 -10.2 314 1773 0.88 0.00 114.38 0.716 10246 0.214 0.000 2968 2050 2849 2829 2870 0 0 0 0 1 0 26.37 28.83 24.39

1774 end apogee: CONTROL_FINISHED_OK

state 1775 begin climb

1776 0.98 107.5 2968 2050 2836 2878 181.2 0.0 337 1874 1.48 2.45 85.97 0.626 10756 0.191 0.056 3369 610 2403 2394 2412 0 0 0 0 0 0 25.32 25.32 24.70

1930 0.98 107.5 3368 610 2393 2409 172.0 9.6 366 1937 0.00 2.20 0.00 0.000 1030 0.000 0.043 3360 2002 2400 2393 2408 0 0 0 0 0 0 28.83 25.82 28.83

2059 0.98 107.5 3360 2002 2393 2408 160.8 8.6 391 2065 0.00 2.25 0.00 0.000 260 0.000 0.057 3349 3421 2400 2393 2408 0 0 0 0 0 0 28.83 26.13 28.83

2101 0.98 107.5 2432 3419 2352 2401 156.9 9.1 399 2108 0.00 2.17 0.00 0.000 1030 0.000 0.042 3358 2010 2400 2393 2408 0 0 0 0 0 0 28.83 26.22 28.83

2229 0.98 107.5 3358 2009 2393 2408 144.3 10.1 424 2236 0.00 2.22 0.00 0.000 516 0.000 0.056 3369 597 2400 2393 2408 0 0 0 0 0 0 28.83 26.34 28.83

2277 0.98 107.5 3368 596 2393 2408 138.9 11.3 433 2284 0.00 2.17 0.00 0.000 1030 0.000 0.043 3360 2009 2400 2393 2408 0 0 0 0 0 0 28.83 26.41 28.83

2406 0.98 107.5 3359 2009 2393 2408 125.8 9.7 458 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 2009 2400 2393 2408 0 0 0 0 0 0 28.83 28.83 28.83

2532 0.98 107.5 2448 2007 2352 2401 114.2 9.2 483 2539 0.00 2.22 0.00 0.000 516 0.000 0.056 3369 594 2400 2393 2408 0 0 0 0 0 0 28.83 26.53 28.83

2580 0.98 107.5 3369 594 2393 2408 109.6 9.4 492 2587 0.00 2.17 0.00 0.000 1030 0.000 0.043 3359 2018 2400 2393 2408 0 0 0 0 0 0 28.83 26.59 28.83

2708 0.98 107.5 3359 2019 2393 2408 97.4 9.1 517 2715 0.00 2.15 0.00 0.000 260 0.000 0.057 3349 3408 2400 2392 2408 0 0 0 0 0 0 28.83 26.60 28.83

2766 0.98 107.5 3349 3408 2393 2408 91.7 11.0 528 2773 0.00 2.12 0.00 0.000 1030 0.000 0.042 3358 2000 2400 2393 2408 0 0 0 0 0 0 28.83 26.65 28.83

2894 0.98 107.5 3358 1999 2392 2408 79.4 9.8 553 2901 0.00 2.20 0.00 0.000 260 0.000 0.057 3349 3407 2400 2393 2408 0 0 0 0 0 0 28.83 26.65 28.83

2952 0.98 107.5 3349 3408 2393 2408 73.5 10.0 564 2959 0.00 2.12 0.00 0.000 1030 0.000 0.042 3358 1998 2400 2393 2408 0 0 0 0 0 0 28.83 26.70 28.83

3080 0.98 107.5 3358 1998 2393 2408 61.1 9.5 589 3087 0.00 2.17 0.00 0.000 516 0.000 0.057 3370 594 2400 2393 2408 0 0 0 0 0 0 28.83 26.70 28.83

3158 0.98 107.5 3369 594 2393 2407 53.5 9.9 604 3165 0.00 2.15 0.00 0.000 1030 0.000 0.043 3360 2007 2400 2392 2408 0 0 0 0 0 0 28.83 26.76 28.83

3287 0.98 107.5 3359 2007 2393 2408 42.5 8.2 629 3292 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 2007 2400 2393 2407 0 0 0 0 0 0 28.83 28.83 28.83

3414 0.99 116.3 3360 2007 2393 2408 32.0 7.6 654 3420 0.00 0.00 2.25 0.197 8198 0.000 0.000 3360 2007 2375 2371 2380 0 0 0 0 0 0 28.83 28.83 26.46

3482 0.99 117.0 3359 2007 2387 2394 26.4 8.0 667 3489 0.00 2.28 1.70 0.191 8708 0.000 0.056 3369 596 2376 2372 2380 0 0 0 0 0 0 28.83 26.75 26.51

3541 0.99 117.0 3369 596 2387 2392 21.3 8.9 678 3548 0.00 2.15 1.50 0.195 9222 0.000 0.043 3359 2017 2371 2368 2375 0 0 0 0 0 0 28.83 26.81 26.54

3610 0.99 117.0 3359 2016 2385 2391 15.4 8.4 691 3616 0.00 0.00 1.45 0.196 8198 0.000 0.000 3360 2017 2373 2370 2376 0 0 0 0 0 0 28.83 28.83 26.55

3678 0.99 118.5 3359 2016 2381 2389 9.8 8.0 704 3684 0.00 0.00 1.62 0.194 8198 0.000 0.000 3360 2016 2365 2362 2369 0 0 0 0 0 0 28.83 28.83 26.57

3746 0.99 119.1 3360 2016 2374 2380 4.9 8.0 717 3753 0.00 2.15 1.08 0.211 8452 0.000 0.056 3349 3409 2365 2361 2369 0 0 0 0 0 0 28.83 26.77 26.60

3789 end climb: SURFACE_DEPTH_REACHED

state 3789 begin surface coast

3815 end surface coast: CONTROL_FINISHED_OK

state 3815 begin surface

ID	204	HD_C	9.9999997e-06	ROLL_MAX	3704	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING	0	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2005	ALTIM_PING_DEPTH	110
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	33	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	31	XPDR_VALID	2
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.60000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2850	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	83	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-566.38641	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	210	MINV_24V	19	SIM_W	0
MAX_BUOY	110	PITCH_MAX	3900	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3061	FG_AHR_10V	0	SEABIRD_T_G	0.0043959874
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063999143
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.6240119e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-73.463333	SEABIRD_T_J	3.2438568e-06
MASS	51746	PITCH_GAIN	20	PRESSURE_SLOPE	0.0001157966	SEABIRD_C_G	-9.8023682
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1326066
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012119424
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017415492
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	140114,211858,4743.378,-12224.839,3,1.2,3,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.029,0.208
_SM_DEPTHo	1.47	KALMAN_X	-47.8,28.4,70.6,-403.8,-101.7
_SM_ANGLEo	-69.3	KALMAN_Y	-838.6,-524.8,24.9,2282.4,-552.6
GPS2	140114,212437,4743.370,-12224.859,5,1.2,5,16.3	MHEAD_RNG_PITCHd_Wd	351.7,985,-16.9,-8.032,-20.91,2029
SPEED_LIMITS	0.139,0.210	D_GRID	177

FINISH	0.5,1.010451	_24V_AH	24.4,5.943
SM_CCo	3833,48.72,0.131,0,0,1788,260.02	_10V_AH	10.4,3.140
SM_GC	2.14,9.98,2.12,48.72,0.135,0.041,0.131,196,2033,1788,-8.87,0.90,260.02,0,0,0,0,0,0,26.83,26.84,26.47	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12232.20,140114,202052	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211,0.029211	MEM	323064
HUMID	33.26	DATA_FILE_SIZE	26773,730
INTERNAL_PRESSURE	8.75461	CAP_FILE_SIZE	80894,0
TCM_TEMP	16.90	CFSIZE	1024393216,1020608512
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	120.2,17.4	GPS	140114,223129,4743.555,-12224.703,38,1.3,38,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	283	167.59	SBE_CT	489	23	277.45
Roll_motor	65	71	114.79	nil	0	0	0.00
VBD_pump_during_apogee	209	716	3668.12	nil	0	0	0.00
VBD_pump_during_surface	48	130	155.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	20	12	6.12	nil	0	0	0.00
Iridium_during_connect	47	160	185.54	nil	0	0	0.00
Iridium_during_xfer	197	223	1072.47	nil	0	0	0.00
Transponder_ping	1	420	12.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	26	1.87
TT8	1623	18	315.85
LPSleep	824	2	18.78
TT8_Active	399	18	77.81
TT8_Sampling	1344	44	627.95
TT8_CF8	45	61	29.31
TT8_Kalman	33	68	23.79
Analog_circuits	998	15	155.72
GPS_charging	0	0	0.00
Compass	1046	8	89.70
RAFOS	0	0	0.00
Transponder	11	30	3.60

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	-0.98	-107.5	189	2039	1768	1802	0.0	0.0	0	67	0.00	0.00	-49.83	0.000	16386	0.000	0.000	190	2039	3116	3068	3164	0	0	0	0	0	0	28.83	28.83	28.83
69	-0.98	-107.5	189	2039	3068	3164	3.2	-3.4	9	93	11.88	2.22	-4.18	0.000	18948	0.284	0.072	2743	632	3290	3261	3319	0	0	0	0	0	0	25.96	26.36	26.72
274	-0.98	-107.5	2743	632	3262	3319	28.9	-11.5	49	281	0.00	2.17	0.00	0.000	1030	0.000	0.043	2733	2043	3290	3262	3319	0	0	0	0	0	0	28.83	26.55	28.83
343	-0.98	-107.5	2733	2043	3262	3319	36.7	-12.1	62	348	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2043	3290	3262	3319	0	0	0	0	0	0	28.83	28.83	28.83
410	-0.98	-107.5	2733	2043	3263	3319	44.3	-11.0	75	416	0.00	2.20	0.00	0.000	516	0.000	0.056	2743	634	3291	3263	3319	0	0	0	0	0	0	28.83	26.57	28.83
452	-0.98	-107.5	2743	634	3263	3319	49.3	-11.5	83	459	0.00	2.15	0.00	0.000	1030	0.000	0.043	2734	2045	3291	3263	3319	0	0	0	0	0	0	28.83	26.63	28.83
581	-0.98	-107.5	2734	2045	3262	3319	63.2	-10.9	108	587	0.00	2.17	0.00	0.000	260	0.000	0.057	2723	3447	3291	3263	3319	0	0	0	0	0	0	28.83	26.63	28.83
608	-0.98	-107.5	2723	3447	3264	3319	66.4	-11.1	113	615	0.00	2.12	0.00	0.000	1030	0.000	0.042	2732	2038	3291	3263	3319	0	0	0	0	0	0	28.83	26.69	28.83
738	-0.98	-107.5	2732	2037	3262	3319	79.8	-10.3	138	743	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2036	3291	3263	3319	0	0	0	0	0	0	28.83	28.83	28.83
865	-0.98	-107.5	2732	2036	3263	3319	93.2	-10.6	163	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2036	3291	3263	3319	0	0	0	0	0	0	28.83	28.83	28.83
993	-0.98	-107.5	2732	2037	3263	3319	106.6	-9.8	188	999	0.00	2.17	0.00	0.000	260	0.000	0.057	2723	3444	3291	3263	3319	0	0	0	0	0	0	28.83	26.73	28.83
1050	-0.98	-107.5	1736	3443	3248	3316	112.7	-10.6	199	1057	0.00	2.12	0.00	0.000	1030	0.000	0.042	2732	2027	3291	3263	3319	0	0	0	0	0	0	28.83	26.80	28.83
1183	-0.98	-107.5	2732	2026	3263	3319	126.6	-10.6	224	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2026	3291	3263	3319	0	0	0	0	0	0	28.83	28.83	28.83
1310	-0.98	-107.5	2732	2026	3263	3319	140.0	-9.9	249	1317	0.00	2.12	0.00	0.000	516	0.000	0.057	2743	637	3291	3263	3319	0	0	0	0	0	0	28.83	26.78	28.83
1348	-0.98	-107.5	2743	637	3263	3319	144.5	-11.9	256	1355	0.00	2.12	0.00	0.000	1030	0.000	0.042	2733	2045	3291	3263	3319	0	0	0	0	0	0	28.83	26.84	28.83
1476	-0.98	-107.5	2733	2044	3263	3319	158.6	-10.7	281	1483	0.00	2.17	0.00	0.000	516	0.000	0.055	2743	633	3291	3263	3319	0	0	0	0	0	0	28.83	26.81	28.83
1554	-0.98	-107.5	2743	632	3263	3318	167.1	-10.3	296	1561	0.00	2.15	0.00	0.000	1030	0.000	0.042	2734	2049	3291	3263	3319	0	0	0	0	0	0	28.83	26.86	28.83
1646	end dive: TARGET_DEPTH_EXCEEDED
state	1646	begin apogee
1649	-0.25	0.0	2733	2049	3263	3319	177.0	-10.2	314	1773	0.88	0.00	114.38	0.716	10246	0.214	0.000	2968	2050	2849	2829	2870	0	0	0	0	1	0	26.37	28.83	24.39
1774	end apogee: CONTROL_FINISHED_OK
state	1775	begin climb
1776	0.98	107.5	2968	2050	2836	2878	181.2	0.0	337	1874	1.48	2.45	85.97	0.626	10756	0.191	0.056	3369	610	2403	2394	2412	0	0	0	0	0	0	25.32	25.32	24.70
1930	0.98	107.5	3368	610	2393	2409	172.0	9.6	366	1937	0.00	2.20	0.00	0.000	1030	0.000	0.043	3360	2002	2400	2393	2408	0	0	0	0	0	0	28.83	25.82	28.83
2059	0.98	107.5	3360	2002	2393	2408	160.8	8.6	391	2065	0.00	2.25	0.00	0.000	260	0.000	0.057	3349	3421	2400	2393	2408	0	0	0	0	0	0	28.83	26.13	28.83
2101	0.98	107.5	2432	3419	2352	2401	156.9	9.1	399	2108	0.00	2.17	0.00	0.000	1030	0.000	0.042	3358	2010	2400	2393	2408	0	0	0	0	0	0	28.83	26.22	28.83
2229	0.98	107.5	3358	2009	2393	2408	144.3	10.1	424	2236	0.00	2.22	0.00	0.000	516	0.000	0.056	3369	597	2400	2393	2408	0	0	0	0	0	0	28.83	26.34	28.83
2277	0.98	107.5	3368	596	2393	2408	138.9	11.3	433	2284	0.00	2.17	0.00	0.000	1030	0.000	0.043	3360	2009	2400	2393	2408	0	0	0	0	0	0	28.83	26.41	28.83
2406	0.98	107.5	3359	2009	2393	2408	125.8	9.7	458	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	3360	2009	2400	2393	2408	0	0	0	0	0	0	28.83	28.83	28.83
2532	0.98	107.5	2448	2007	2352	2401	114.2	9.2	483	2539	0.00	2.22	0.00	0.000	516	0.000	0.056	3369	594	2400	2393	2408	0	0	0	0	0	0	28.83	26.53	28.83
2580	0.98	107.5	3369	594	2393	2408	109.6	9.4	492	2587	0.00	2.17	0.00	0.000	1030	0.000	0.043	3359	2018	2400	2393	2408	0	0	0	0	0	0	28.83	26.59	28.83
2708	0.98	107.5	3359	2019	2393	2408	97.4	9.1	517	2715	0.00	2.15	0.00	0.000	260	0.000	0.057	3349	3408	2400	2392	2408	0	0	0	0	0	0	28.83	26.60	28.83
2766	0.98	107.5	3349	3408	2393	2408	91.7	11.0	528	2773	0.00	2.12	0.00	0.000	1030	0.000	0.042	3358	2000	2400	2393	2408	0	0	0	0	0	0	28.83	26.65	28.83
2894	0.98	107.5	3358	1999	2392	2408	79.4	9.8	553	2901	0.00	2.20	0.00	0.000	260	0.000	0.057	3349	3407	2400	2393	2408	0	0	0	0	0	0	28.83	26.65	28.83
2952	0.98	107.5	3349	3408	2393	2408	73.5	10.0	564	2959	0.00	2.12	0.00	0.000	1030	0.000	0.042	3358	1998	2400	2393	2408	0	0	0	0	0	0	28.83	26.70	28.83
3080	0.98	107.5	3358	1998	2393	2408	61.1	9.5	589	3087	0.00	2.17	0.00	0.000	516	0.000	0.057	3370	594	2400	2393	2408	0	0	0	0	0	0	28.83	26.70	28.83
3158	0.98	107.5	3369	594	2393	2407	53.5	9.9	604	3165	0.00	2.15	0.00	0.000	1030	0.000	0.043	3360	2007	2400	2392	2408	0	0	0	0	0	0	28.83	26.76	28.83
3287	0.98	107.5	3359	2007	2393	2408	42.5	8.2	629	3292	0.00	0.00	0.00	0.000	6	0.000	0.000	3360	2007	2400	2393	2407	0	0	0	0	0	0	28.83	28.83	28.83
3414	0.99	116.3	3360	2007	2393	2408	32.0	7.6	654	3420	0.00	0.00	2.25	0.197	8198	0.000	0.000	3360	2007	2375	2371	2380	0	0	0	0	0	0	28.83	28.83	26.46
3482	0.99	117.0	3359	2007	2387	2394	26.4	8.0	667	3489	0.00	2.28	1.70	0.191	8708	0.000	0.056	3369	596	2376	2372	2380	0	0	0	0	0	0	28.83	26.75	26.51
3541	0.99	117.0	3369	596	2387	2392	21.3	8.9	678	3548	0.00	2.15	1.50	0.195	9222	0.000	0.043	3359	2017	2371	2368	2375	0	0	0	0	0	0	28.83	26.81	26.54
3610	0.99	117.0	3359	2016	2385	2391	15.4	8.4	691	3616	0.00	0.00	1.45	0.196	8198	0.000	0.000	3360	2017	2373	2370	2376	0	0	0	0	0	0	28.83	28.83	26.55
3678	0.99	118.5	3359	2016	2381	2389	9.8	8.0	704	3684	0.00	0.00	1.62	0.194	8198	0.000	0.000	3360	2016	2365	2362	2369	0	0	0	0	0	0	28.83	28.83	26.57
3746	0.99	119.1	3360	2016	2374	2380	4.9	8.0	717	3753	0.00	2.15	1.08	0.211	8452	0.000	0.056	3349	3409	2365	2361	2369	0	0	0	0	0	0	28.83	26.77	26.60
3789	end climb: SURFACE_DEPTH_REACHED
state	3789	begin surface coast
3815	end surface coast: CONTROL_FINISHED_OK
state	3815	begin surface