Glider dive log

Shilshole 06Jan15 * SG036 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 36 HD_B 0.0099999998 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 17 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_BOTTOM_PING_RANGE 0

DIVE 7 HEADING -1 ROLL_MAX 3990 ALTIM_TOP_PING_RANGE 20

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2200 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 100

D_ABORT 300 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 500 R_PORT_OVSHOOT 45 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 48 ALTIM_SENSITIVITY 2

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 1.7

SURFACE_URGENCY 0 N_NOCOMM 2 VBD_MIN 321 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3926 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2500 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 90 CALL_TRIES 5 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 540 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 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 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 208 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3959 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 3365 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 0.0043996978

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.0006365396

MASS 78118 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.6113061e-05

MASS_COMP 9146 PITCH_GAIN 21.5 PRESSURE_YINT -971.80823 SEABIRD_T_J 3.2649082e-06

NAV_MODE 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00091862795 SEABIRD_C_G -9.7572823

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1335733

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016566192

HD_A 0.003 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021344022

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.2649082e-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 3 PITCH_ADJ_GAIN 0 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_GAIN 21.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3959 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 208 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00091862795 T_BOOST 0

CALL_WAIT 30 HD_C 9.9999997e-06 PRESSURE_YINT -971.80823 T_DIVE 80

CAPMAXSIZE 200000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 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 36 RAFOS_DEVICE -1 T_MISSION 90

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.7 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 540

C_PITCH 3365 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2500 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78118 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS_COMP 9146 ROLL_MAX 3990 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 187 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3926

DEVICE5 -1 MISSION 17 R_PORT_OVSHOOT 45 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 48 VBD_MIN 321

DIVE 7 NAV_MODE 1 SEABIRD_C_G -9.7572823 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 300 NOCOMM_ACTION 0 SEABIRD_C_H 1.1335733 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.0016566192 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00021344022 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.0043996978 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_H 0.0006365396 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6113061e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070115,022304,4743.8003,-12224.3838,12,1.3,45,18.2,0.0,94.8,9,5.8 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.57 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -69.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070115,022753,4743.8022,-12224.3662,12,1.7,16,18.2,0.0,0.0,8,6.1 MHEAD_RNG_PITCHd_Wd 334.5,1303,-13.1,-7.500,-17.71,2947

SPEED_LIMITS 0.075,0.235 D_GRID 180

Post-dive calculations and measurements:

FINISH 2.6,1.021455 _24V_AH 23.89,17.535

SM_CCo 4346,244.48,7.993,0,0,777,500.22 _10V_AH 10.45,2.439

SM_GC 1.47,9.05,2.38,244.48,0.574,0.286,7.993,216,2183,777,-9.78,-1.16,500.22,0,0,0,0,0,0,26.41,26.47,24.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12159.30,070115,012827 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023968,0.023968 MEM 322848

HUMID 45.98 DATA_FILE_SIZE 26897,473

INTERNAL_PRESSURE 8.54597 CAP_FILE_SIZE 77547,0

TCM_TEMP 17.80 CFSIZE 1024409600,1020887040

XPDR_PINGS 16 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.8,19.2 INTR 0,2040.20,0x238aa6,2,5

ALTIM_BOTTOM_PING 115.3,74.7 GPS 070115,034604,4744.547,-12224.412,8,1.5,36,18.2,0.0,0.0,9,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 2391 1278.15 SBE_CT 316 24 181.50

Roll_motor 60 456 658.70 AA4330 622 33 491.05

VBD_pump_during_apogee 207 9254 45824.66 nil 0 0 0.00

VBD_pump_during_surface 244 7992 46681.88 nil 0 0 0.00

VBD_valve 150 821 2945.18 nil 0 0 0.00

Iridium_during_init 26 103 64.36 nil 0 0 0.00

Iridium_during_connect 14 160 55.10 nil 0 0 0.00

Iridium_during_xfer 167 223 893.09 nil 0 0 0.00

Transponder_ping 5 420 55.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.85

TT8 1138 19 235.55

LPSleep 2044 2 46.79

TT8_Active 604 19 125.12

TT8_Sampling 1066 39 443.74

TT8_CF8 51 45 24.69

TT8_Kalman 0 0 0.00

Analog_circuits 1096 12 137.51

GPS_charging 0 0 0.00

Compass 821 15 128.71

RAFOS 0 0 0.00

Transponder 11 30 3.75

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 -0.65 -146.6 215 2183 665 892 0.0 0.0 0 147 0.00 0.00 -129.80 0.772 16386 0.000 0.000 216 2183 2626 2548 2704 0 0 0 0 0 0 25.96 28.83 25.98

150 -0.65 -146.6 216 2183 2548 2704 3.0 -2.6 24 190 11.93 2.55 -20.20 0.822 18692 2.391 0.442 3144 3782 3004 2914 3095 0 0 0 0 0 0 25.44 25.65 25.58

387 -0.65 -146.6 3144 3782 2915 3095 27.1 -10.1 64 391 0.00 2.40 0.00 0.000 1030 0.000 0.251 3144 2186 3005 2915 3096 0 0 0 0 0 0 26.03 25.98 26.05

512 -0.65 -146.6 3144 2186 2915 3096 39.0 -9.6 76 513 0.00 0.00 0.00 0.000 6 0.000 0.000 3144 2186 3005 2915 3096 0 0 0 0 0 0 26.30 26.32 26.32

632 -0.65 -146.6 3144 2186 2915 3096 50.6 -9.5 88 633 0.00 0.00 0.00 0.000 6 0.000 0.000 3144 2186 3005 2915 3096 0 0 0 0 0 0 26.38 26.40 26.39

752 -0.65 -146.6 3144 2186 2915 3096 61.9 -9.1 100 761 0.00 2.47 0.00 0.000 260 0.000 0.439 3133 3772 3005 2915 3095 0 0 0 0 0 0 26.44 26.15 26.45

825 -0.65 -146.6 3133 3772 2915 3096 69.1 -10.0 107 833 0.00 2.38 0.00 0.000 1030 0.000 0.246 3134 2193 3005 2915 3095 0 0 0 0 0 0 26.31 26.25 26.32

953 -0.65 -146.6 3133 2193 2915 3096 80.6 -8.7 120 954 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2193 3005 2914 3096 0 0 0 0 0 0 26.51 26.53 26.53

1073 -0.65 -146.6 3133 2193 2915 3095 91.9 -9.3 132 1077 0.00 2.45 0.00 0.000 260 0.000 0.442 3122 3773 3005 2915 3096 0 0 0 0 0 0 26.54 26.26 26.56

1148 -0.65 -146.6 3122 3773 2915 3095 99.7 -9.9 139 1154 0.12 2.33 0.00 0.000 3078 1.405 0.248 3162 2196 3005 2915 3096 0 0 0 0 0 0 26.19 26.34 26.31

1275 -0.65 -146.6 3162 2195 2915 3096 110.5 -9.3 151 1276 0.00 0.00 0.00 0.000 6 0.000 0.000 3162 2195 3005 2915 3096 0 0 0 0 0 0 26.56 26.59 26.58

1393 -0.65 -146.6 3162 2195 2915 3095 120.5 -7.9 163 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 3162 2195 3005 2915 3096 0 0 0 0 0 0 26.62 26.64 26.64

1513 -0.65 -146.6 3162 2195 2915 3096 130.6 -8.7 175 1518 0.00 2.45 0.00 0.000 260 0.000 0.449 3152 3778 3005 2915 3096 0 0 0 0 0 0 26.64 26.36 26.65

1562 -0.65 -146.6 3152 3778 2915 3095 135.2 -10.1 179 1570 0.00 2.35 0.00 0.000 1030 0.000 0.253 3153 2205 3005 2915 3095 0 0 0 0 0 0 26.49 26.43 26.50

1689 -0.65 -146.6 3152 2205 2915 3096 146.7 -8.7 192 1691 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 2205 3005 2915 3096 0 0 0 0 0 0 26.66 26.69 26.68

1809 -0.65 -146.6 3152 2205 2915 3096 156.3 -8.4 204 1811 0.00 0.00 0.00 0.000 6 0.000 0.000 3153 2205 3005 2915 3096 0 0 0 0 0 0 26.68 26.70 26.70

1930 -0.65 -146.6 3152 2205 2915 3095 166.5 -8.7 216 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 2205 3005 2915 3095 0 0 0 0 0 0 26.70 26.72 26.71

2038 end dive: BOTTOM_OBSTACLE_DETECTED

state 2039 begin apogee

2042 -0.23 0.0 3152 2205 2915 3096 175.2 -8.2 227 2150 0.43 0.00 103.10 9.254 10246 1.152 0.000 3294 2205 2499 2424 2575 0 0 0 0 0 0 26.32 24.77 24.12

2151 end apogee: CONTROL_FINISHED_OK

state 2151 begin climb

2153 0.65 146.6 3294 2205 2424 2575 178.4 0.0 238 2265 0.73 2.50 104.18 8.887 10756 0.775 0.338 3565 637 1995 1913 2077 0 0 0 0 0 0 24.93 24.37 23.89

2320 0.65 146.6 3565 637 1913 2077 169.3 7.0 254 2327 0.00 2.45 0.00 0.000 1030 0.000 0.291 3565 2201 1995 1913 2077 0 0 0 0 0 0 25.34 25.27 25.35

2447 0.65 146.6 3565 2201 1913 2077 158.0 8.9 267 2448 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2200 1995 1913 2077 0 0 0 0 0 0 25.91 25.93 25.92

2567 0.65 146.6 3565 2201 1913 2076 148.2 8.8 279 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2201 1995 1913 2077 0 0 0 0 0 0 26.10 26.13 26.11

2687 0.65 146.6 3565 2201 1913 2077 138.9 6.7 291 2688 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2200 1994 1913 2076 0 0 0 0 0 0 26.22 26.25 26.24

2807 0.65 146.6 3565 2201 1913 2077 129.1 8.5 303 2811 0.00 2.40 0.00 0.000 516 0.000 0.353 3577 622 1995 1913 2077 0 0 0 0 0 0 26.32 26.06 26.33

2863 0.65 146.6 3577 622 1913 2077 124.3 8.9 308 2867 0.00 2.38 0.00 0.000 1030 0.000 0.288 3577 2213 1995 1913 2077 0 0 0 0 0 0 26.17 26.10 26.18

2988 0.65 146.6 3577 2213 1913 2077 113.3 9.0 320 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 3577 2213 1995 1913 2077 0 0 0 0 0 0 26.41 26.44 26.43

3108 0.65 146.6 3577 2213 1913 2077 103.0 8.8 332 3109 0.00 0.00 0.00 0.000 6 0.000 0.000 3577 2213 1995 1913 2077 0 0 0 0 0 0 26.46 26.49 26.48

3228 0.65 146.6 3577 2213 1913 2077 93.2 8.3 344 3232 0.00 2.42 0.00 0.000 260 0.000 0.457 3577 3779 1995 1913 2077 0 0 0 0 0 0 26.51 26.22 26.53

3284 0.65 146.6 3577 3779 1913 2077 88.2 9.2 349 3288 0.00 2.33 0.00 0.000 1030 0.000 0.248 3588 2195 1995 1913 2077 0 0 0 0 0 0 26.36 26.30 26.36

3409 0.65 146.6 3588 2194 1913 2077 76.3 8.7 361 3413 0.00 2.35 0.00 0.000 516 0.000 0.363 3600 622 1995 1913 2077 0 0 0 0 0 0 26.56 26.30 26.58

3487 0.65 146.6 3600 621 1913 2077 69.4 8.4 368 3495 0.00 2.40 0.00 0.000 1030 0.000 0.288 3600 2209 1995 1913 2077 0 0 0 0 0 0 26.37 26.34 26.39

3615 0.65 146.6 3599 2209 1913 2077 57.4 9.5 381 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 3600 2209 1995 1913 2077 0 0 0 0 0 0 26.61 26.63 26.63

3734 0.65 146.6 3600 2209 1913 2077 46.4 8.7 393 3736 0.00 0.00 0.00 0.000 6 0.000 0.000 3600 2209 1995 1913 2077 0 0 0 0 0 0 26.63 26.65 26.65

3854 0.65 146.6 3600 2209 1913 2077 35.9 8.5 405 3859 0.00 2.38 0.00 0.000 516 0.000 0.358 3612 625 1994 1913 2076 0 0 0 0 0 0 26.65 26.39 26.67

3890 0.65 146.6 3611 625 1913 2077 32.6 9.1 408 3895 0.12 2.35 0.00 0.000 5126 1.388 0.288 3572 2208 1995 1913 2077 0 0 0 0 0 0 26.29 26.42 26.41

4015 0.65 146.6 3571 2208 1913 2077 24.5 6.6 420 4019 0.00 2.38 0.00 0.000 516 0.000 0.358 3581 623 1995 1913 2077 0 0 0 0 0 0 26.68 26.41 26.70

4112 0.65 146.6 3581 623 1913 2077 17.9 6.8 432 4118 0.00 2.35 0.00 0.000 1030 0.000 0.291 3581 2204 1995 1913 2077 0 0 0 0 0 0 26.51 26.45 26.53

4180 0.65 146.6 3581 2205 1913 2076 13.0 7.7 445 4186 0.00 2.45 0.00 0.000 260 0.000 0.454 3581 3782 1995 1913 2077 0 0 0 0 0 0 26.70 26.41 26.72

4238 0.65 146.6 3580 3782 1913 2077 8.6 9.1 456 4245 0.00 2.33 0.00 0.000 1030 0.000 0.248 3590 2198 1994 1913 2076 0 0 0 0 0 0 26.53 26.48 26.55

4306 0.65 146.6 3590 2197 1913 2077 4.0 5.7 469 4313 0.00 2.33 0.00 0.000 516 0.000 0.360 3602 632 1995 1913 2077 0 0 0 0 0 0 26.71 26.46 26.73

4323 end climb: SURFACE_DEPTH_REACHED

state 4323 begin surface coast

4329 end surface coast: CONTROL_FINISHED_OK

state 4329 begin surface

ID	36	HD_B	0.0099999998	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	17	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_BOTTOM_PING_RANGE	0
DIVE	7	HEADING	-1	ROLL_MAX	3990	ALTIM_TOP_PING_RANGE	20
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2200	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	100
D_ABORT	300	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	500	R_PORT_OVSHOOT	45	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.7
SURFACE_URGENCY	0	N_NOCOMM	2	VBD_MIN	321	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3926	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2500	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	90	CALL_TRIES	5	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	540	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	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	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	208	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3959	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	3365	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	0.0043996978
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.0006365396
MASS	78118	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.6113061e-05
MASS_COMP	9146	PITCH_GAIN	21.5	PRESSURE_YINT	-971.80823	SEABIRD_T_J	3.2649082e-06
NAV_MODE	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00091862795	SEABIRD_C_G	-9.7572823
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1335733
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016566192
HD_A	0.003	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021344022

GPS1	070115,022304,4743.8003,-12224.3838,12,1.3,45,18.2,0.0,94.8,9,5.8	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.57	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-69.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070115,022753,4743.8022,-12224.3662,12,1.7,16,18.2,0.0,0.0,8,6.1	MHEAD_RNG_PITCHd_Wd	334.5,1303,-13.1,-7.500,-17.71,2947
SPEED_LIMITS	0.075,0.235	D_GRID	180

FINISH	2.6,1.021455	_24V_AH	23.89,17.535
SM_CCo	4346,244.48,7.993,0,0,777,500.22	_10V_AH	10.45,2.439
SM_GC	1.47,9.05,2.38,244.48,0.574,0.286,7.993,216,2183,777,-9.78,-1.16,500.22,0,0,0,0,0,0,26.41,26.47,24.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12159.30,070115,012827	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023968,0.023968	MEM	322848
HUMID	45.98	DATA_FILE_SIZE	26897,473
INTERNAL_PRESSURE	8.54597	CAP_FILE_SIZE	77547,0
TCM_TEMP	17.80	CFSIZE	1024409600,1020887040
XPDR_PINGS	16	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.8,19.2	INTR	0,2040.20,0x238aa6,2,5
ALTIM_BOTTOM_PING	115.3,74.7	GPS	070115,034604,4744.547,-12224.412,8,1.5,36,18.2,0.0,0.0,9,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	2391	1278.15	SBE_CT	316	24	181.50
Roll_motor	60	456	658.70	AA4330	622	33	491.05
VBD_pump_during_apogee	207	9254	45824.66	nil	0	0	0.00
VBD_pump_during_surface	244	7992	46681.88	nil	0	0	0.00
VBD_valve	150	821	2945.18	nil	0	0	0.00
Iridium_during_init	26	103	64.36	nil	0	0	0.00
Iridium_during_connect	14	160	55.10	nil	0	0	0.00
Iridium_during_xfer	167	223	893.09	nil	0	0	0.00
Transponder_ping	5	420	55.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.85
TT8	1138	19	235.55
LPSleep	2044	2	46.79
TT8_Active	604	19	125.12
TT8_Sampling	1066	39	443.74
TT8_CF8	51	45	24.69
TT8_Kalman	0	0	0.00
Analog_circuits	1096	12	137.51
GPS_charging	0	0	0.00
Compass	821	15	128.71
RAFOS	0	0	0.00
Transponder	11	30	3.75

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	-0.65	-146.6	215	2183	665	892	0.0	0.0	0	147	0.00	0.00	-129.80	0.772	16386	0.000	0.000	216	2183	2626	2548	2704	0	0	0	0	0	0	25.96	28.83	25.98
150	-0.65	-146.6	216	2183	2548	2704	3.0	-2.6	24	190	11.93	2.55	-20.20	0.822	18692	2.391	0.442	3144	3782	3004	2914	3095	0	0	0	0	0	0	25.44	25.65	25.58
387	-0.65	-146.6	3144	3782	2915	3095	27.1	-10.1	64	391	0.00	2.40	0.00	0.000	1030	0.000	0.251	3144	2186	3005	2915	3096	0	0	0	0	0	0	26.03	25.98	26.05
512	-0.65	-146.6	3144	2186	2915	3096	39.0	-9.6	76	513	0.00	0.00	0.00	0.000	6	0.000	0.000	3144	2186	3005	2915	3096	0	0	0	0	0	0	26.30	26.32	26.32
632	-0.65	-146.6	3144	2186	2915	3096	50.6	-9.5	88	633	0.00	0.00	0.00	0.000	6	0.000	0.000	3144	2186	3005	2915	3096	0	0	0	0	0	0	26.38	26.40	26.39
752	-0.65	-146.6	3144	2186	2915	3096	61.9	-9.1	100	761	0.00	2.47	0.00	0.000	260	0.000	0.439	3133	3772	3005	2915	3095	0	0	0	0	0	0	26.44	26.15	26.45
825	-0.65	-146.6	3133	3772	2915	3096	69.1	-10.0	107	833	0.00	2.38	0.00	0.000	1030	0.000	0.246	3134	2193	3005	2915	3095	0	0	0	0	0	0	26.31	26.25	26.32
953	-0.65	-146.6	3133	2193	2915	3096	80.6	-8.7	120	954	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2193	3005	2914	3096	0	0	0	0	0	0	26.51	26.53	26.53
1073	-0.65	-146.6	3133	2193	2915	3095	91.9	-9.3	132	1077	0.00	2.45	0.00	0.000	260	0.000	0.442	3122	3773	3005	2915	3096	0	0	0	0	0	0	26.54	26.26	26.56
1148	-0.65	-146.6	3122	3773	2915	3095	99.7	-9.9	139	1154	0.12	2.33	0.00	0.000	3078	1.405	0.248	3162	2196	3005	2915	3096	0	0	0	0	0	0	26.19	26.34	26.31
1275	-0.65	-146.6	3162	2195	2915	3096	110.5	-9.3	151	1276	0.00	0.00	0.00	0.000	6	0.000	0.000	3162	2195	3005	2915	3096	0	0	0	0	0	0	26.56	26.59	26.58
1393	-0.65	-146.6	3162	2195	2915	3095	120.5	-7.9	163	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	3162	2195	3005	2915	3096	0	0	0	0	0	0	26.62	26.64	26.64
1513	-0.65	-146.6	3162	2195	2915	3096	130.6	-8.7	175	1518	0.00	2.45	0.00	0.000	260	0.000	0.449	3152	3778	3005	2915	3096	0	0	0	0	0	0	26.64	26.36	26.65
1562	-0.65	-146.6	3152	3778	2915	3095	135.2	-10.1	179	1570	0.00	2.35	0.00	0.000	1030	0.000	0.253	3153	2205	3005	2915	3095	0	0	0	0	0	0	26.49	26.43	26.50
1689	-0.65	-146.6	3152	2205	2915	3096	146.7	-8.7	192	1691	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	2205	3005	2915	3096	0	0	0	0	0	0	26.66	26.69	26.68
1809	-0.65	-146.6	3152	2205	2915	3096	156.3	-8.4	204	1811	0.00	0.00	0.00	0.000	6	0.000	0.000	3153	2205	3005	2915	3096	0	0	0	0	0	0	26.68	26.70	26.70
1930	-0.65	-146.6	3152	2205	2915	3095	166.5	-8.7	216	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	2205	3005	2915	3095	0	0	0	0	0	0	26.70	26.72	26.71
2038	end dive: BOTTOM_OBSTACLE_DETECTED
state	2039	begin apogee
2042	-0.23	0.0	3152	2205	2915	3096	175.2	-8.2	227	2150	0.43	0.00	103.10	9.254	10246	1.152	0.000	3294	2205	2499	2424	2575	0	0	0	0	0	0	26.32	24.77	24.12
2151	end apogee: CONTROL_FINISHED_OK
state	2151	begin climb
2153	0.65	146.6	3294	2205	2424	2575	178.4	0.0	238	2265	0.73	2.50	104.18	8.887	10756	0.775	0.338	3565	637	1995	1913	2077	0	0	0	0	0	0	24.93	24.37	23.89
2320	0.65	146.6	3565	637	1913	2077	169.3	7.0	254	2327	0.00	2.45	0.00	0.000	1030	0.000	0.291	3565	2201	1995	1913	2077	0	0	0	0	0	0	25.34	25.27	25.35
2447	0.65	146.6	3565	2201	1913	2077	158.0	8.9	267	2448	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2200	1995	1913	2077	0	0	0	0	0	0	25.91	25.93	25.92
2567	0.65	146.6	3565	2201	1913	2076	148.2	8.8	279	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2201	1995	1913	2077	0	0	0	0	0	0	26.10	26.13	26.11
2687	0.65	146.6	3565	2201	1913	2077	138.9	6.7	291	2688	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2200	1994	1913	2076	0	0	0	0	0	0	26.22	26.25	26.24
2807	0.65	146.6	3565	2201	1913	2077	129.1	8.5	303	2811	0.00	2.40	0.00	0.000	516	0.000	0.353	3577	622	1995	1913	2077	0	0	0	0	0	0	26.32	26.06	26.33
2863	0.65	146.6	3577	622	1913	2077	124.3	8.9	308	2867	0.00	2.38	0.00	0.000	1030	0.000	0.288	3577	2213	1995	1913	2077	0	0	0	0	0	0	26.17	26.10	26.18
2988	0.65	146.6	3577	2213	1913	2077	113.3	9.0	320	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	3577	2213	1995	1913	2077	0	0	0	0	0	0	26.41	26.44	26.43
3108	0.65	146.6	3577	2213	1913	2077	103.0	8.8	332	3109	0.00	0.00	0.00	0.000	6	0.000	0.000	3577	2213	1995	1913	2077	0	0	0	0	0	0	26.46	26.49	26.48
3228	0.65	146.6	3577	2213	1913	2077	93.2	8.3	344	3232	0.00	2.42	0.00	0.000	260	0.000	0.457	3577	3779	1995	1913	2077	0	0	0	0	0	0	26.51	26.22	26.53
3284	0.65	146.6	3577	3779	1913	2077	88.2	9.2	349	3288	0.00	2.33	0.00	0.000	1030	0.000	0.248	3588	2195	1995	1913	2077	0	0	0	0	0	0	26.36	26.30	26.36
3409	0.65	146.6	3588	2194	1913	2077	76.3	8.7	361	3413	0.00	2.35	0.00	0.000	516	0.000	0.363	3600	622	1995	1913	2077	0	0	0	0	0	0	26.56	26.30	26.58
3487	0.65	146.6	3600	621	1913	2077	69.4	8.4	368	3495	0.00	2.40	0.00	0.000	1030	0.000	0.288	3600	2209	1995	1913	2077	0	0	0	0	0	0	26.37	26.34	26.39
3615	0.65	146.6	3599	2209	1913	2077	57.4	9.5	381	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	3600	2209	1995	1913	2077	0	0	0	0	0	0	26.61	26.63	26.63
3734	0.65	146.6	3600	2209	1913	2077	46.4	8.7	393	3736	0.00	0.00	0.00	0.000	6	0.000	0.000	3600	2209	1995	1913	2077	0	0	0	0	0	0	26.63	26.65	26.65
3854	0.65	146.6	3600	2209	1913	2077	35.9	8.5	405	3859	0.00	2.38	0.00	0.000	516	0.000	0.358	3612	625	1994	1913	2076	0	0	0	0	0	0	26.65	26.39	26.67
3890	0.65	146.6	3611	625	1913	2077	32.6	9.1	408	3895	0.12	2.35	0.00	0.000	5126	1.388	0.288	3572	2208	1995	1913	2077	0	0	0	0	0	0	26.29	26.42	26.41
4015	0.65	146.6	3571	2208	1913	2077	24.5	6.6	420	4019	0.00	2.38	0.00	0.000	516	0.000	0.358	3581	623	1995	1913	2077	0	0	0	0	0	0	26.68	26.41	26.70
4112	0.65	146.6	3581	623	1913	2077	17.9	6.8	432	4118	0.00	2.35	0.00	0.000	1030	0.000	0.291	3581	2204	1995	1913	2077	0	0	0	0	0	0	26.51	26.45	26.53
4180	0.65	146.6	3581	2205	1913	2076	13.0	7.7	445	4186	0.00	2.45	0.00	0.000	260	0.000	0.454	3581	3782	1995	1913	2077	0	0	0	0	0	0	26.70	26.41	26.72
4238	0.65	146.6	3580	3782	1913	2077	8.6	9.1	456	4245	0.00	2.33	0.00	0.000	1030	0.000	0.248	3590	2198	1994	1913	2076	0	0	0	0	0	0	26.53	26.48	26.55
4306	0.65	146.6	3590	2197	1913	2077	4.0	5.7	469	4313	0.00	2.33	0.00	0.000	516	0.000	0.360	3602	632	1995	1913	2077	0	0	0	0	0	0	26.71	26.46	26.73
4323	end climb: SURFACE_DEPTH_REACHED
state	4323	begin surface coast
4329	end surface coast: CONTROL_FINISHED_OK
state	4329	begin surface