Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 9 * 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 9 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 41 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 46 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 80 CALL_TRIES 10 VBD_CNV -0.29519999 DEVICE3 -1

T_MISSION 90 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 -989799.44 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_ICE 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

APOGEE_PITCH -5 PITCH_MIN 237 AH0_10V 100 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MAX 3815 MINV_24V 19 SIM_W 0

COURSE_BIAS 0 C_PITCH 2995 MINV_10V 8 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_G 0.0042701932

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_H 0.00061695499

RHO 1.023 P_OVSHOOT 0.026142744 PHONE_SUPPLY 2 SEABIRD_T_I 2.0597783e-05

MASS 76769 P_OVSHOOT_WITHG 0.089055829 PRESSURE_YINT -1038.2784 SEABIRD_T_J 1.9668842e-06

MASS_COMP 9469 PITCH_GAIN 24 PRESSURE_SLOPE 0.00092600001 SEABIRD_C_G -9.6408119

NAV_MODE 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.1092987

FERRY_MAX 45 PITCH_AD_RATE 140 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011480527

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016399958

HD_A 0.0047458 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_B 0.011518 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_W 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 4 PITCH_AD_RATE 140 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 FERRY_MAX 45 PITCH_MAX 3815 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 237 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 47.724998

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LON -122.4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_ABORT 2880

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_BOOST 0

CALL_NDIVES 1 HD_A 0.0047458 PRESSURE_SLOPE 0.00092600001 T_DIVE 80

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 -989799.44

CF8_MAXERRORS 2 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_LOITER 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_MISSION 90

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 41 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 46 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 9 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 070214,025721,4742.887,-12224.646,11,3.1,31,18.2 TGT_NAME NORTH

_CALLS 3 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.012,0.222

_SM_DEPTHo 1.08 KALMAN_X 316.3,168.0,38.5,-680.6,-9.3

_SM_ANGLEo -71.4 KALMAN_Y 737.8,930.5,135.0,-4280.8,-447.0

GPS2 070214,030442,4742.861,-12224.692,9,1.4,14,18.2 MHEAD_RNG_PITCHd_Wd 344.9,3045,-15.4,-7.500,-18.65,2965

SPEED_LIMITS 0.075,0.222 D_GRID 180

Post-dive calculations and measurements:

FINISH 1.7,1.023004 _24V_AH 23.2,38.334

SM_CCo 4593,80.15,0.934,0,0,2351,300.22 _10V_AH 10.3,4.689

SM_GC 0.90,8.35,2.20,80.15,0.092,0.057,0.934,252,1758,2351,-8.53,1.07,300.22,0,0,0,0,0,0,25.72,25.93,23.99 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12229.50,070214,030300 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 354608

HUMID 39.36 DATA_FILE_SIZE 26888,493

INTERNAL_PRESSURE 8.46712 CAP_FILE_SIZE 80439,0

TCM_TEMP 17.50 CFSIZE 260165632,242507776

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

ALTIM_TOP_PING 19.1,19.0 GPS 070214,042454,4742.978,-12225.125,40,1.4,40,18.2

ALTIM_BOTTOM_PING 160.8,33.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 255 120.30 SBE_CT 337 56 439.33

Roll_motor 65 74 113.89 AA4330 648 15 236.82

VBD_pump_during_apogee 235 1047 5716.39 nil 0 0 0.00

VBD_pump_during_surface 80 933 1736.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 89 52 108.41 nil 0 0 0.00

Iridium_during_connect 82 160 306.86 nil 0 0 0.00

Iridium_during_xfer 112 223 581.85 nil 0 0 0.00

Transponder_ping 6 420 65.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.82

TT8 1181 9 121.30

LPSleep 2124 2 47.93

TT8_Active 477 9 49.04

TT8_Sampling 1243 31 405.84

TT8_CF8 101 39 41.79

TT8_Kalman 33 52 18.03

Analog_circuits 1036 11 117.44

GPS_charging 0 0 0.00

Compass 912 20 190.09

RAFOS 0 0 0.00

Transponder 40 30 12.51

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 -0.64 -146.6 245 1727 2316 2385 0.0 0.0 0 117 0.00 0.00 -98.38 0.000 16386 0.000 0.000 245 1727 3504 3465 3544 0 0 0 0 0 0 28.83 28.83 28.83

120 -0.64 -146.6 245 1727 3465 3544 3.2 -1.8 18 156 10.60 2.25 -15.38 0.000 18948 0.256 0.072 2783 333 3866 3832 3900 0 0 0 0 0 0 24.87 25.39 25.32

332 -0.64 -146.6 2782 333 3832 3900 29.6 -12.5 51 339 0.00 2.15 0.00 0.000 1030 0.000 0.057 2782 1731 3866 3832 3900 0 0 0 0 0 0 28.83 25.62 28.83

459 -0.64 -146.6 2782 1732 3832 3900 43.5 -10.3 64 467 0.00 2.22 0.00 0.000 260 0.000 0.072 2782 3135 3866 3832 3900 0 0 0 0 0 0 28.83 25.59 28.83

520 -0.64 -146.6 2783 3135 3832 3900 48.8 -8.3 70 528 0.00 2.17 0.00 0.000 1030 0.000 0.060 2782 1734 3866 3832 3900 0 0 0 0 0 0 28.83 25.70 28.83

650 -0.64 -146.6 2782 1734 3832 3900 59.3 -8.3 83 651 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1734 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

770 -0.64 -146.6 2782 1734 3832 3900 69.8 -8.4 95 779 0.00 2.22 0.00 0.000 260 0.000 0.072 2782 3133 3866 3832 3900 0 0 0 0 0 0 28.83 25.70 28.83

834 -0.64 -146.6 2782 3133 3832 3900 75.8 -9.8 101 841 0.00 2.20 0.00 0.000 1030 0.000 0.060 2782 1730 3866 3832 3900 0 0 0 0 0 0 28.83 25.80 28.83

961 -0.64 -146.6 2782 1730 3832 3900 88.0 -9.5 114 963 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1731 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

1081 -0.64 -146.6 2782 1730 3832 3900 98.4 -8.4 126 1090 0.00 2.22 0.00 0.000 260 0.000 0.070 2782 3133 3866 3832 3900 0 0 0 0 0 0 28.83 25.76 28.83

1145 -0.64 -146.6 2782 3133 3832 3900 103.5 -8.0 132 1152 0.00 2.17 0.00 0.000 1030 0.000 0.060 2782 1726 3866 3832 3900 0 0 0 0 0 0 28.83 25.86 28.83

1272 -0.64 -146.6 2782 1726 3832 3900 112.5 -6.2 145 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1725 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

1393 -0.64 -146.6 2782 1726 3832 3900 120.8 -5.9 157 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1726 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

1513 -0.64 -146.6 2782 1725 3832 3900 127.5 -4.9 169 1521 0.00 2.22 0.00 0.000 260 0.000 0.070 2782 3134 3866 3832 3901 0 0 0 0 0 0 28.83 25.81 28.83

1594 -0.64 -146.6 2782 3133 3832 3900 133.1 -7.1 177 1603 0.00 2.12 0.00 0.000 1030 0.000 0.060 2783 1735 3866 3832 3900 0 0 0 0 0 0 28.83 25.92 28.83

1724 -0.64 -146.6 2782 1734 3832 3900 143.8 -8.1 190 1733 0.00 2.22 0.00 0.000 260 0.000 0.070 2783 3140 3866 3832 3900 0 0 0 0 0 0 28.83 25.82 28.83

1780 -0.64 -146.6 2782 3140 3832 3900 147.7 -6.5 195 1786 0.00 2.15 0.00 0.000 1030 0.000 0.060 2783 1726 3866 3832 3900 0 0 0 0 0 0 28.83 25.94 28.83

1907 -0.64 -146.6 2782 1726 3832 3900 159.0 -8.9 208 1915 0.00 2.22 0.00 0.000 260 0.000 0.070 2782 3133 3866 3832 3900 0 0 0 0 0 0 28.83 25.83 28.83

1972 -0.64 -146.6 2782 3134 3832 3900 164.5 -8.9 214 1979 0.00 2.17 0.00 0.000 1030 0.000 0.060 2782 1709 3866 3832 3900 0 0 0 0 0 0 28.83 25.94 28.83

2100 -0.64 -146.6 2782 1709 3832 3900 175.1 -7.9 227 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1709 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

2168 end dive: TARGET_DEPTH_EXCEEDED

state 2168 begin apogee

2173 -0.21 0.0 2782 1709 3832 3900 180.4 -7.6 234 2280 0.43 0.00 102.43 1.048 10246 0.129 0.000 2926 1709 3368 3339 3398 0 0 0 0 0 0 25.61 28.83 23.68

2281 end apogee: CONTROL_FINISHED_OK

state 2281 begin climb

2284 0.64 146.6 2926 1709 3339 3398 183.8 0.0 245 2401 0.75 2.35 104.57 0.921 10756 0.097 0.074 3195 339 2871 2846 2897 0 0 0 0 0 0 24.60 24.08 23.24

2444 0.64 154.7 3195 339 2845 2897 177.2 7.2 261 2456 0.00 2.22 7.53 0.772 9222 0.000 0.057 3195 1737 2843 2818 2869 0 0 0 0 0 0 28.83 24.54 23.45

2584 0.64 171.2 3195 1737 2818 2869 166.1 6.9 275 2604 0.00 2.28 12.75 0.876 8452 0.000 0.070 3195 3136 2788 2763 2814 0 0 0 0 0 0 28.83 24.81 23.72

2676 0.64 171.2 3195 3136 2763 2814 159.4 8.4 284 2685 0.00 2.20 0.00 0.000 1030 0.000 0.060 3205 1741 2788 2763 2814 0 0 0 0 0 0 28.83 25.10 28.83

2806 0.64 171.2 3205 1741 2763 2814 147.5 9.1 297 2807 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1740 2788 2763 2814 0 0 0 0 0 0 28.83 28.83 28.83

2926 0.64 171.2 3205 1740 2763 2814 137.2 7.8 309 2935 0.00 2.25 0.00 0.000 260 0.000 0.070 3205 3134 2788 2763 2814 0 0 0 0 0 0 28.83 25.42 28.83

3047 0.64 171.2 3205 3134 2763 2814 127.0 8.0 321 3056 0.00 2.17 0.00 0.000 1030 0.000 0.057 3216 1727 2788 2763 2814 0 0 0 0 0 0 28.83 25.58 28.83

3178 0.64 171.2 3216 1726 2763 2814 117.2 7.9 334 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1726 2788 2763 2814 0 0 0 0 0 0 28.83 28.83 28.83

3297 0.64 171.2 3216 1727 2763 2814 107.6 8.8 346 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1726 2788 2763 2814 0 0 0 0 0 0 28.83 28.83 28.83

3417 0.64 171.2 3216 1727 2763 2814 96.9 8.7 358 3418 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1727 2788 2763 2814 0 0 0 0 0 0 28.83 28.83 28.83

3537 0.64 171.2 3216 1727 2763 2814 85.7 9.3 370 3546 0.00 2.17 0.00 0.000 516 0.000 0.072 3227 335 2788 2763 2814 0 0 0 0 0 0 28.83 25.70 28.83

3598 0.64 171.2 3226 335 2763 2814 80.1 9.7 376 3607 0.00 2.12 0.00 0.000 1030 0.000 0.057 3227 1748 2788 2762 2814 0 0 0 0 0 0 28.83 25.83 28.83

3728 0.64 171.2 3227 1748 2763 2814 68.9 7.8 389 3737 0.00 2.20 0.00 0.000 260 0.000 0.070 3227 3137 2788 2763 2814 0 0 0 0 0 0 28.83 25.75 28.83

3782 0.64 171.2 3227 3137 2763 2814 64.4 9.5 394 3790 0.15 2.17 0.00 0.000 5126 0.176 0.060 3197 1728 2788 2763 2814 0 0 0 0 0 0 25.53 25.85 28.83

3910 0.64 173.6 3197 1728 2763 2814 54.8 7.4 407 3919 0.00 0.00 3.90 0.584 8198 0.000 0.000 3197 1728 2777 2752 2803 0 0 0 0 0 0 28.83 28.83 24.48

4039 0.64 173.6 3197 1728 2753 2804 45.0 7.7 420 4048 0.00 2.17 0.00 0.000 516 0.000 0.074 3207 337 2778 2752 2804 0 0 0 0 0 0 28.83 25.78 28.83

4113 0.64 173.6 3207 337 2752 2804 39.1 8.0 427 4120 0.00 2.12 0.00 0.000 1030 0.000 0.057 3207 1742 2778 2752 2804 0 0 0 0 0 0 28.83 25.91 28.83

4240 0.64 177.0 3207 1742 2752 2804 29.2 7.4 440 4251 0.00 2.15 3.97 0.586 8452 0.000 0.067 3207 3130 2767 2741 2793 0 0 0 0 0 0 28.83 25.89 24.56

4343 0.64 177.0 3207 3130 2741 2793 20.9 8.2 450 4351 0.00 2.12 0.00 0.000 1030 0.000 0.060 3218 1736 2767 2741 2793 0 0 0 0 0 0 28.83 25.91 28.83

4474 0.64 177.0 3217 1736 2741 2793 10.2 8.3 474 4481 0.00 2.22 0.00 0.000 260 0.000 0.067 3218 3133 2767 2741 2793 0 0 0 0 0 0 28.83 25.83 28.83

4547 end climb: SURFACE_DEPTH_REACHED

state 4548 begin surface coast

4574 end surface coast: CONTROL_FINISHED_OK

state 4575 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	9	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	41	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	46	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	80	CALL_TRIES	10	VBD_CNV	-0.29519999	DEVICE3	-1
T_MISSION	90	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	-989799.44	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_ICE	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	PITCH_MIN	237	AH0_10V	100	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MAX	3815	MINV_24V	19	SIM_W	0
COURSE_BIAS	0	C_PITCH	2995	MINV_10V	8	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_G	0.0042701932
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_H	0.00061695499
RHO	1.023	P_OVSHOOT	0.026142744	PHONE_SUPPLY	2	SEABIRD_T_I	2.0597783e-05
MASS	76769	P_OVSHOOT_WITHG	0.089055829	PRESSURE_YINT	-1038.2784	SEABIRD_T_J	1.9668842e-06
MASS_COMP	9469	PITCH_GAIN	24	PRESSURE_SLOPE	0.00092600001	SEABIRD_C_G	-9.6408119
NAV_MODE	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.1092987
FERRY_MAX	45	PITCH_AD_RATE	140	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011480527
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016399958
HD_A	0.0047458	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_B	0.011518	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070214,025721,4742.887,-12224.646,11,3.1,31,18.2	TGT_NAME	NORTH
_CALLS	3	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.012,0.222
_SM_DEPTHo	1.08	KALMAN_X	316.3,168.0,38.5,-680.6,-9.3
_SM_ANGLEo	-71.4	KALMAN_Y	737.8,930.5,135.0,-4280.8,-447.0
GPS2	070214,030442,4742.861,-12224.692,9,1.4,14,18.2	MHEAD_RNG_PITCHd_Wd	344.9,3045,-15.4,-7.500,-18.65,2965
SPEED_LIMITS	0.075,0.222	D_GRID	180

FINISH	1.7,1.023004	_24V_AH	23.2,38.334
SM_CCo	4593,80.15,0.934,0,0,2351,300.22	_10V_AH	10.3,4.689
SM_GC	0.90,8.35,2.20,80.15,0.092,0.057,0.934,252,1758,2351,-8.53,1.07,300.22,0,0,0,0,0,0,25.72,25.93,23.99	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12229.50,070214,030300	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	354608
HUMID	39.36	DATA_FILE_SIZE	26888,493
INTERNAL_PRESSURE	8.46712	CAP_FILE_SIZE	80439,0
TCM_TEMP	17.50	CFSIZE	260165632,242507776
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.1,19.0	GPS	070214,042454,4742.978,-12225.125,40,1.4,40,18.2
ALTIM_BOTTOM_PING	160.8,33.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	255	120.30	SBE_CT	337	56	439.33
Roll_motor	65	74	113.89	AA4330	648	15	236.82
VBD_pump_during_apogee	235	1047	5716.39	nil	0	0	0.00
VBD_pump_during_surface	80	933	1736.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	89	52	108.41	nil	0	0	0.00
Iridium_during_connect	82	160	306.86	nil	0	0	0.00
Iridium_during_xfer	112	223	581.85	nil	0	0	0.00
Transponder_ping	6	420	65.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.82
TT8	1181	9	121.30
LPSleep	2124	2	47.93
TT8_Active	477	9	49.04
TT8_Sampling	1243	31	405.84
TT8_CF8	101	39	41.79
TT8_Kalman	33	52	18.03
Analog_circuits	1036	11	117.44
GPS_charging	0	0	0.00
Compass	912	20	190.09
RAFOS	0	0	0.00
Transponder	40	30	12.51

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	-0.64	-146.6	245	1727	2316	2385	0.0	0.0	0	117	0.00	0.00	-98.38	0.000	16386	0.000	0.000	245	1727	3504	3465	3544	0	0	0	0	0	0	28.83	28.83	28.83
120	-0.64	-146.6	245	1727	3465	3544	3.2	-1.8	18	156	10.60	2.25	-15.38	0.000	18948	0.256	0.072	2783	333	3866	3832	3900	0	0	0	0	0	0	24.87	25.39	25.32
332	-0.64	-146.6	2782	333	3832	3900	29.6	-12.5	51	339	0.00	2.15	0.00	0.000	1030	0.000	0.057	2782	1731	3866	3832	3900	0	0	0	0	0	0	28.83	25.62	28.83
459	-0.64	-146.6	2782	1732	3832	3900	43.5	-10.3	64	467	0.00	2.22	0.00	0.000	260	0.000	0.072	2782	3135	3866	3832	3900	0	0	0	0	0	0	28.83	25.59	28.83
520	-0.64	-146.6	2783	3135	3832	3900	48.8	-8.3	70	528	0.00	2.17	0.00	0.000	1030	0.000	0.060	2782	1734	3866	3832	3900	0	0	0	0	0	0	28.83	25.70	28.83
650	-0.64	-146.6	2782	1734	3832	3900	59.3	-8.3	83	651	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1734	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
770	-0.64	-146.6	2782	1734	3832	3900	69.8	-8.4	95	779	0.00	2.22	0.00	0.000	260	0.000	0.072	2782	3133	3866	3832	3900	0	0	0	0	0	0	28.83	25.70	28.83
834	-0.64	-146.6	2782	3133	3832	3900	75.8	-9.8	101	841	0.00	2.20	0.00	0.000	1030	0.000	0.060	2782	1730	3866	3832	3900	0	0	0	0	0	0	28.83	25.80	28.83
961	-0.64	-146.6	2782	1730	3832	3900	88.0	-9.5	114	963	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1731	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
1081	-0.64	-146.6	2782	1730	3832	3900	98.4	-8.4	126	1090	0.00	2.22	0.00	0.000	260	0.000	0.070	2782	3133	3866	3832	3900	0	0	0	0	0	0	28.83	25.76	28.83
1145	-0.64	-146.6	2782	3133	3832	3900	103.5	-8.0	132	1152	0.00	2.17	0.00	0.000	1030	0.000	0.060	2782	1726	3866	3832	3900	0	0	0	0	0	0	28.83	25.86	28.83
1272	-0.64	-146.6	2782	1726	3832	3900	112.5	-6.2	145	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1725	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
1393	-0.64	-146.6	2782	1726	3832	3900	120.8	-5.9	157	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1726	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
1513	-0.64	-146.6	2782	1725	3832	3900	127.5	-4.9	169	1521	0.00	2.22	0.00	0.000	260	0.000	0.070	2782	3134	3866	3832	3901	0	0	0	0	0	0	28.83	25.81	28.83
1594	-0.64	-146.6	2782	3133	3832	3900	133.1	-7.1	177	1603	0.00	2.12	0.00	0.000	1030	0.000	0.060	2783	1735	3866	3832	3900	0	0	0	0	0	0	28.83	25.92	28.83
1724	-0.64	-146.6	2782	1734	3832	3900	143.8	-8.1	190	1733	0.00	2.22	0.00	0.000	260	0.000	0.070	2783	3140	3866	3832	3900	0	0	0	0	0	0	28.83	25.82	28.83
1780	-0.64	-146.6	2782	3140	3832	3900	147.7	-6.5	195	1786	0.00	2.15	0.00	0.000	1030	0.000	0.060	2783	1726	3866	3832	3900	0	0	0	0	0	0	28.83	25.94	28.83
1907	-0.64	-146.6	2782	1726	3832	3900	159.0	-8.9	208	1915	0.00	2.22	0.00	0.000	260	0.000	0.070	2782	3133	3866	3832	3900	0	0	0	0	0	0	28.83	25.83	28.83
1972	-0.64	-146.6	2782	3134	3832	3900	164.5	-8.9	214	1979	0.00	2.17	0.00	0.000	1030	0.000	0.060	2782	1709	3866	3832	3900	0	0	0	0	0	0	28.83	25.94	28.83
2100	-0.64	-146.6	2782	1709	3832	3900	175.1	-7.9	227	2101	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1709	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
2168	end dive: TARGET_DEPTH_EXCEEDED
state	2168	begin apogee
2173	-0.21	0.0	2782	1709	3832	3900	180.4	-7.6	234	2280	0.43	0.00	102.43	1.048	10246	0.129	0.000	2926	1709	3368	3339	3398	0	0	0	0	0	0	25.61	28.83	23.68
2281	end apogee: CONTROL_FINISHED_OK
state	2281	begin climb
2284	0.64	146.6	2926	1709	3339	3398	183.8	0.0	245	2401	0.75	2.35	104.57	0.921	10756	0.097	0.074	3195	339	2871	2846	2897	0	0	0	0	0	0	24.60	24.08	23.24
2444	0.64	154.7	3195	339	2845	2897	177.2	7.2	261	2456	0.00	2.22	7.53	0.772	9222	0.000	0.057	3195	1737	2843	2818	2869	0	0	0	0	0	0	28.83	24.54	23.45
2584	0.64	171.2	3195	1737	2818	2869	166.1	6.9	275	2604	0.00	2.28	12.75	0.876	8452	0.000	0.070	3195	3136	2788	2763	2814	0	0	0	0	0	0	28.83	24.81	23.72
2676	0.64	171.2	3195	3136	2763	2814	159.4	8.4	284	2685	0.00	2.20	0.00	0.000	1030	0.000	0.060	3205	1741	2788	2763	2814	0	0	0	0	0	0	28.83	25.10	28.83
2806	0.64	171.2	3205	1741	2763	2814	147.5	9.1	297	2807	0.00	0.00	0.00	0.000	6	0.000	0.000	3205	1740	2788	2763	2814	0	0	0	0	0	0	28.83	28.83	28.83
2926	0.64	171.2	3205	1740	2763	2814	137.2	7.8	309	2935	0.00	2.25	0.00	0.000	260	0.000	0.070	3205	3134	2788	2763	2814	0	0	0	0	0	0	28.83	25.42	28.83
3047	0.64	171.2	3205	3134	2763	2814	127.0	8.0	321	3056	0.00	2.17	0.00	0.000	1030	0.000	0.057	3216	1727	2788	2763	2814	0	0	0	0	0	0	28.83	25.58	28.83
3178	0.64	171.2	3216	1726	2763	2814	117.2	7.9	334	3179	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1726	2788	2763	2814	0	0	0	0	0	0	28.83	28.83	28.83
3297	0.64	171.2	3216	1727	2763	2814	107.6	8.8	346	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1726	2788	2763	2814	0	0	0	0	0	0	28.83	28.83	28.83
3417	0.64	171.2	3216	1727	2763	2814	96.9	8.7	358	3418	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1727	2788	2763	2814	0	0	0	0	0	0	28.83	28.83	28.83
3537	0.64	171.2	3216	1727	2763	2814	85.7	9.3	370	3546	0.00	2.17	0.00	0.000	516	0.000	0.072	3227	335	2788	2763	2814	0	0	0	0	0	0	28.83	25.70	28.83
3598	0.64	171.2	3226	335	2763	2814	80.1	9.7	376	3607	0.00	2.12	0.00	0.000	1030	0.000	0.057	3227	1748	2788	2762	2814	0	0	0	0	0	0	28.83	25.83	28.83
3728	0.64	171.2	3227	1748	2763	2814	68.9	7.8	389	3737	0.00	2.20	0.00	0.000	260	0.000	0.070	3227	3137	2788	2763	2814	0	0	0	0	0	0	28.83	25.75	28.83
3782	0.64	171.2	3227	3137	2763	2814	64.4	9.5	394	3790	0.15	2.17	0.00	0.000	5126	0.176	0.060	3197	1728	2788	2763	2814	0	0	0	0	0	0	25.53	25.85	28.83
3910	0.64	173.6	3197	1728	2763	2814	54.8	7.4	407	3919	0.00	0.00	3.90	0.584	8198	0.000	0.000	3197	1728	2777	2752	2803	0	0	0	0	0	0	28.83	28.83	24.48
4039	0.64	173.6	3197	1728	2753	2804	45.0	7.7	420	4048	0.00	2.17	0.00	0.000	516	0.000	0.074	3207	337	2778	2752	2804	0	0	0	0	0	0	28.83	25.78	28.83
4113	0.64	173.6	3207	337	2752	2804	39.1	8.0	427	4120	0.00	2.12	0.00	0.000	1030	0.000	0.057	3207	1742	2778	2752	2804	0	0	0	0	0	0	28.83	25.91	28.83
4240	0.64	177.0	3207	1742	2752	2804	29.2	7.4	440	4251	0.00	2.15	3.97	0.586	8452	0.000	0.067	3207	3130	2767	2741	2793	0	0	0	0	0	0	28.83	25.89	24.56
4343	0.64	177.0	3207	3130	2741	2793	20.9	8.2	450	4351	0.00	2.12	0.00	0.000	1030	0.000	0.060	3218	1736	2767	2741	2793	0	0	0	0	0	0	28.83	25.91	28.83
4474	0.64	177.0	3217	1736	2741	2793	10.2	8.3	474	4481	0.00	2.22	0.00	0.000	260	0.000	0.067	3218	3133	2767	2741	2793	0	0	0	0	0	0	28.83	25.83	28.83
4547	end climb: SURFACE_DEPTH_REACHED
state	4548	begin surface coast
4574	end surface coast: CONTROL_FINISHED_OK
state	4575	begin surface