Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 11 * 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 11 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 11 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 45 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 -989801.94 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 -989801.94

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 11 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 45 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 11 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 070214,054403,4743.024,-12225.241,11,2.2,31,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,0.179

_SM_DEPTHo 1.12 KALMAN_X -717.2,306.3,-216.5,-269.7,-503.7

_SM_ANGLEo -71.1 KALMAN_Y -56.8,843.9,-728.7,-2273.5,-616.7

GPS2 070214,054849,4743.002,-12225.286,13,1.5,13,18.2 MHEAD_RNG_PITCHd_Wd 14.8,2941,-13.8,-6.667,-17.39,3328

SPEED_LIMITS 0.067,0.213 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.3,1.022971 _24V_AH 23.2,38.541

SM_CCo 4849,0.00,0.000,0,0,2149,359.85 _10V_AH 10.4,4.760

SM_GC 1.24,7.78,2.17,0.00,0.062,0.055,0.000,245,1750,2149,-8.54,1.36,359.85,0,0,0,0,0,0,25.85,25.95,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12124.71,070214,040419 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 354572

HUMID 39.56 DATA_FILE_SIZE 30333,515

INTERNAL_PRESSURE 8.44759 CAP_FILE_SIZE 82340,0

TCM_TEMP 17.50 CFSIZE 260165632,242405376

XPDR_PINGS 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.0,19.0 GPS 070214,071125,4743.170,-12225.124,9,1.9,10,18.2

ALTIM_BOTTOM_PING 170.7,30.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 112.62 SBE_CT 350 56 457.17

Roll_motor 66 74 115.27 AA4330 677 15 247.19

VBD_pump_during_apogee 362 1065 8964.57 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 52 37.48 nil 0 0 0.00

Iridium_during_connect 36 160 137.08 nil 0 0 0.00

Iridium_during_xfer 127 223 657.30 nil 0 0 0.00

Transponder_ping 8 420 80.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 26 4.49

TT8 1200 9 124.43

LPSleep 2169 2 49.42

TT8_Active 491 9 50.99

TT8_Sampling 1172 31 386.45

TT8_CF8 113 39 46.98

TT8_Kalman 33 52 18.19

Analog_circuits 1090 11 124.76

GPS_charging 0 0 0.00

Compass 936 20 196.91

RAFOS 0 0 0.00

Transponder 43 30 13.57

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 -0.57 -146.6 211 1738 2313 2386 0.0 0.0 0 116 0.00 0.00 -97.47 0.000 16386 0.000 0.000 211 1739 3497 3457 3537 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.57 -146.6 211 1738 3458 3537 3.3 -2.1 18 155 10.57 2.30 -15.20 0.000 18692 0.248 0.070 2803 3134 3865 3832 3899 0 0 0 0 0 0 24.93 25.44 25.37

187 -0.57 -146.6 2802 3133 3833 3899 12.1 -7.6 30 194 0.00 2.25 0.00 0.000 1030 0.000 0.060 2803 1698 3866 3833 3900 0 0 0 0 0 0 28.83 25.54 28.83

256 -0.57 -146.6 2802 1698 3832 3900 17.6 -7.7 43 262 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 1698 3866 3832 3900 0 0 0 0 0 0 28.83 28.83 28.83

324 -0.57 -146.6 2802 1698 3832 3900 23.8 -9.2 52 333 0.00 2.33 0.00 0.000 260 0.000 0.070 2800 3135 3866 3832 3900 0 0 0 0 0 0 28.83 25.56 28.83

395 -0.57 -146.6 2800 3135 3832 3899 30.1 -8.7 59 404 0.00 2.15 0.00 0.000 1030 0.000 0.060 2801 1733 3866 3833 3899 0 0 0 0 0 0 28.83 25.68 28.83

525 -0.57 -146.6 2800 1733 3832 3900 43.7 -11.0 72 526 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1733 3866 3833 3899 0 0 0 0 0 0 28.83 28.83 28.83

645 -0.57 -146.6 2800 1733 3832 3900 56.3 -10.1 84 654 0.00 2.25 0.00 0.000 260 0.000 0.070 2800 3135 3866 3833 3899 0 0 0 0 0 0 28.83 25.70 28.83

679 -0.57 -146.6 2800 3135 3833 3899 59.3 -9.4 87 687 0.00 2.17 0.00 0.000 1030 0.000 0.060 2800 1725 3865 3832 3899 0 0 0 0 0 0 28.83 25.79 28.83

807 -0.57 -146.6 2800 1726 3832 3899 68.3 -6.3 100 808 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1726 3865 3832 3899 0 0 0 0 0 0 28.83 28.83 28.83

927 -0.57 -146.6 2800 1726 3833 3899 77.0 -8.3 112 928 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1726 3866 3833 3899 0 0 0 0 0 0 28.83 28.83 28.83

1046 -0.57 -146.6 2800 1726 3833 3899 88.7 -10.0 124 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1725 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1167 -0.57 -146.6 2800 1725 3832 3899 98.4 -4.4 136 1175 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3130 3865 3832 3899 0 0 0 0 0 0 28.83 25.79 28.83

1299 -0.57 -146.6 2800 3130 3832 3899 106.3 -7.8 149 1307 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1730 3866 3833 3899 0 0 0 0 0 0 28.83 25.92 28.83

1428 -0.57 -146.6 2800 1730 3832 3899 117.7 -9.4 162 1429 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1730 3865 3832 3899 0 0 0 0 0 0 28.83 28.83 28.83

1548 -0.57 -146.6 2800 1731 3832 3899 131.3 -10.5 174 1551 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3121 3865 3832 3899 0 0 0 0 0 0 28.83 25.84 28.83

1611 -0.57 -146.6 2800 3136 3833 3899 136.4 -8.0 180 1619 0.00 2.17 0.00 0.000 1030 0.000 0.060 2800 1736 3866 3833 3899 0 0 0 0 0 0 28.83 25.94 28.83

1739 -0.57 -146.6 2799 1736 3832 3899 147.5 -9.0 193 1740 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1736 3865 3832 3899 0 0 0 0 0 0 28.83 28.83 28.83

1859 -0.57 -146.6 2800 1737 3832 3899 158.0 -8.6 205 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1736 3866 3833 3899 0 0 0 0 0 0 28.83 28.83 28.83

1979 -0.57 -146.6 2800 1736 3832 3899 168.2 -8.9 217 1987 0.00 2.20 0.00 0.000 260 0.000 0.070 2800 3135 3866 3833 3899 0 0 0 0 0 0 28.83 25.86 28.83

2044 -0.57 -146.6 2800 3134 3833 3899 173.2 -8.0 223 2051 0.00 2.17 0.00 0.000 1030 0.000 0.057 2800 1731 3866 3833 3899 0 0 0 0 0 0 28.83 25.98 28.83

2130 end dive: TARGET_DEPTH_EXCEEDED

state 2130 begin apogee

2135 -0.21 0.0 2800 1731 3832 3899 180.6 -8.2 232 2242 0.38 0.00 102.75 1.065 10246 0.127 0.000 2929 1731 3368 3339 3398 0 0 0 0 0 0 25.70 28.83 23.68

2243 end apogee: CONTROL_FINISHED_OK

state 2243 begin climb

2247 0.57 146.6 2929 1731 3339 3398 185.5 0.0 243 2363 0.68 2.38 104.68 0.924 10756 0.099 0.074 3176 342 2871 2846 2897 0 0 0 0 0 0 24.59 24.08 23.25

2429 0.57 199.4 3176 342 2845 2898 181.3 5.0 261 2476 0.00 2.22 38.45 0.921 9222 0.000 0.055 3176 1734 2691 2662 2720 0 0 0 0 0 0 28.83 24.68 23.39

2597 0.57 199.4 3176 1735 2663 2720 170.0 7.3 278 2606 0.00 2.28 0.00 0.000 260 0.000 0.067 3176 3133 2691 2663 2720 0 0 0 0 0 0 28.83 24.89 28.83

2691 0.57 199.4 3176 3133 2663 2720 162.6 8.1 287 2698 0.00 2.20 0.00 0.000 1030 0.000 0.057 3185 1737 2691 2663 2720 0 0 0 0 0 0 28.83 25.18 28.83

2818 0.57 210.7 3185 1736 2663 2720 153.8 6.3 300 2830 0.00 0.00 9.60 0.844 8198 0.000 0.000 3186 1736 2654 2628 2680 0 0 0 0 0 0 28.83 28.83 24.12

2948 0.57 232.3 3185 1736 2628 2680 146.5 6.0 313 2968 0.00 0.00 16.48 0.909 8198 0.000 0.000 3186 1736 2581 2558 2604 0 0 0 0 0 0 28.83 28.83 24.13

3088 0.57 279.6 3185 1736 2558 2604 138.9 5.2 327 3129 0.00 2.33 34.00 0.949 8452 0.000 0.070 3186 3139 2420 2402 2439 0 0 0 0 0 0 28.83 24.90 23.95

3164 0.57 359.8 3185 3139 2402 2438 136.0 4.2 334 3231 0.00 2.22 56.80 0.901 9222 0.000 0.057 3195 1732 2149 2141 2158 0 0 0 0 0 0 28.83 25.12 23.67

3354 0.57 359.8 3195 1732 2140 2158 118.8 9.2 353 3362 0.00 2.28 0.00 0.000 260 0.000 0.070 3195 3134 2148 2139 2158 0 0 0 0 0 0 28.83 25.10 28.83

3417 0.57 359.8 3195 3134 2141 2158 112.9 6.8 359 3424 0.00 2.20 0.00 0.000 1030 0.000 0.057 3205 1723 2149 2140 2158 0 0 0 0 0 0 28.83 25.29 28.83

3544 0.57 359.8 3205 1722 2140 2158 104.4 7.4 372 3546 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1722 2149 2140 2158 0 0 0 0 0 0 28.83 28.83 28.83

3665 0.57 359.8 3205 1723 2140 2158 94.0 9.2 384 3673 0.00 2.28 0.00 0.000 260 0.000 0.070 3205 3136 2149 2140 2158 0 0 0 0 0 0 28.83 25.53 28.83

3720 0.57 359.8 3206 3136 2141 2158 88.5 11.6 389 3727 0.15 2.17 0.00 0.000 5126 0.161 0.060 3173 1730 2149 2140 2158 0 0 0 0 0 0 25.41 25.62 28.83

3846 0.57 359.8 3172 1730 2140 2158 78.4 8.1 402 3847 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1730 2149 2140 2159 0 0 0 0 0 0 28.83 28.83 28.83

3966 0.57 359.8 3172 1730 2141 2158 68.1 7.9 414 3974 0.00 2.22 0.00 0.000 260 0.000 0.070 3173 3131 2149 2141 2158 0 0 0 0 0 0 28.83 25.70 28.83

4017 0.57 359.8 3172 3131 2141 2158 63.8 8.8 419 4025 0.00 2.17 0.00 0.000 1030 0.000 0.060 3178 1728 2149 2140 2158 0 0 0 0 0 0 28.83 25.77 28.83

4147 0.57 359.8 3178 1728 2140 2158 53.2 8.7 432 4148 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 1728 2149 2140 2158 0 0 0 0 0 0 28.83 28.83 28.83

4267 0.57 359.8 3177 1728 2140 2158 43.0 8.8 444 4275 0.00 2.22 0.00 0.000 260 0.000 0.070 3178 3133 2149 2140 2158 0 0 0 0 0 0 28.83 25.77 28.83

4307 0.57 359.8 3177 3133 2140 2158 39.2 9.6 448 4316 0.00 2.15 0.00 0.000 1030 0.000 0.060 3179 1728 2149 2141 2158 0 0 0 0 0 0 28.83 25.85 28.83

4438 0.57 359.8 3179 1728 2140 2158 28.6 8.4 461 4446 0.00 2.25 0.00 0.000 260 0.000 0.070 3180 3140 2149 2140 2158 0 0 0 0 0 0 28.83 25.82 28.83

4479 0.57 359.8 3179 3140 2140 2158 25.1 9.0 465 4487 0.00 2.15 0.00 0.000 1030 0.000 0.060 3186 1731 2149 2140 2158 0 0 0 0 0 0 28.83 25.89 28.83

4609 0.57 359.8 3186 1731 2140 2158 13.9 8.8 484 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1731 2149 2140 2158 0 0 0 0 0 0 28.83 28.83 28.83

4676 0.57 359.8 3186 1731 2140 2158 8.7 7.9 497 4683 0.00 2.22 0.00 0.000 260 0.000 0.070 3186 3132 2149 2140 2159 0 0 0 0 0 0 28.83 25.85 28.83

4728 end climb: SURFACE_DEPTH_REACHED

state 4728 begin surface coast

4771 end surface coast: CONTROL_FINISHED_OK

state 4771 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	11	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	11	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	45	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	-989801.94	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	070214,054403,4743.024,-12225.241,11,2.2,31,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,0.179
_SM_DEPTHo	1.12	KALMAN_X	-717.2,306.3,-216.5,-269.7,-503.7
_SM_ANGLEo	-71.1	KALMAN_Y	-56.8,843.9,-728.7,-2273.5,-616.7
GPS2	070214,054849,4743.002,-12225.286,13,1.5,13,18.2	MHEAD_RNG_PITCHd_Wd	14.8,2941,-13.8,-6.667,-17.39,3328
SPEED_LIMITS	0.067,0.213	D_GRID	180

FINISH	0.3,1.022971	_24V_AH	23.2,38.541
SM_CCo	4849,0.00,0.000,0,0,2149,359.85	_10V_AH	10.4,4.760
SM_GC	1.24,7.78,2.17,0.00,0.062,0.055,0.000,245,1750,2149,-8.54,1.36,359.85,0,0,0,0,0,0,25.85,25.95,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12124.71,070214,040419	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	354572
HUMID	39.56	DATA_FILE_SIZE	30333,515
INTERNAL_PRESSURE	8.44759	CAP_FILE_SIZE	82340,0
TCM_TEMP	17.50	CFSIZE	260165632,242405376
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.0,19.0	GPS	070214,071125,4743.170,-12225.124,9,1.9,10,18.2
ALTIM_BOTTOM_PING	170.7,30.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	112.62	SBE_CT	350	56	457.17
Roll_motor	66	74	115.27	AA4330	677	15	247.19
VBD_pump_during_apogee	362	1065	8964.57	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	52	37.48	nil	0	0	0.00
Iridium_during_connect	36	160	137.08	nil	0	0	0.00
Iridium_during_xfer	127	223	657.30	nil	0	0	0.00
Transponder_ping	8	420	80.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	26	4.49
TT8	1200	9	124.43
LPSleep	2169	2	49.42
TT8_Active	491	9	50.99
TT8_Sampling	1172	31	386.45
TT8_CF8	113	39	46.98
TT8_Kalman	33	52	18.19
Analog_circuits	1090	11	124.76
GPS_charging	0	0	0.00
Compass	936	20	196.91
RAFOS	0	0	0.00
Transponder	43	30	13.57

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	-0.57	-146.6	211	1738	2313	2386	0.0	0.0	0	116	0.00	0.00	-97.47	0.000	16386	0.000	0.000	211	1739	3497	3457	3537	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.57	-146.6	211	1738	3458	3537	3.3	-2.1	18	155	10.57	2.30	-15.20	0.000	18692	0.248	0.070	2803	3134	3865	3832	3899	0	0	0	0	0	0	24.93	25.44	25.37
187	-0.57	-146.6	2802	3133	3833	3899	12.1	-7.6	30	194	0.00	2.25	0.00	0.000	1030	0.000	0.060	2803	1698	3866	3833	3900	0	0	0	0	0	0	28.83	25.54	28.83
256	-0.57	-146.6	2802	1698	3832	3900	17.6	-7.7	43	262	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	1698	3866	3832	3900	0	0	0	0	0	0	28.83	28.83	28.83
324	-0.57	-146.6	2802	1698	3832	3900	23.8	-9.2	52	333	0.00	2.33	0.00	0.000	260	0.000	0.070	2800	3135	3866	3832	3900	0	0	0	0	0	0	28.83	25.56	28.83
395	-0.57	-146.6	2800	3135	3832	3899	30.1	-8.7	59	404	0.00	2.15	0.00	0.000	1030	0.000	0.060	2801	1733	3866	3833	3899	0	0	0	0	0	0	28.83	25.68	28.83
525	-0.57	-146.6	2800	1733	3832	3900	43.7	-11.0	72	526	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1733	3866	3833	3899	0	0	0	0	0	0	28.83	28.83	28.83
645	-0.57	-146.6	2800	1733	3832	3900	56.3	-10.1	84	654	0.00	2.25	0.00	0.000	260	0.000	0.070	2800	3135	3866	3833	3899	0	0	0	0	0	0	28.83	25.70	28.83
679	-0.57	-146.6	2800	3135	3833	3899	59.3	-9.4	87	687	0.00	2.17	0.00	0.000	1030	0.000	0.060	2800	1725	3865	3832	3899	0	0	0	0	0	0	28.83	25.79	28.83
807	-0.57	-146.6	2800	1726	3832	3899	68.3	-6.3	100	808	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1726	3865	3832	3899	0	0	0	0	0	0	28.83	28.83	28.83
927	-0.57	-146.6	2800	1726	3833	3899	77.0	-8.3	112	928	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1726	3866	3833	3899	0	0	0	0	0	0	28.83	28.83	28.83
1046	-0.57	-146.6	2800	1726	3833	3899	88.7	-10.0	124	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1725	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1167	-0.57	-146.6	2800	1725	3832	3899	98.4	-4.4	136	1175	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3130	3865	3832	3899	0	0	0	0	0	0	28.83	25.79	28.83
1299	-0.57	-146.6	2800	3130	3832	3899	106.3	-7.8	149	1307	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1730	3866	3833	3899	0	0	0	0	0	0	28.83	25.92	28.83
1428	-0.57	-146.6	2800	1730	3832	3899	117.7	-9.4	162	1429	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1730	3865	3832	3899	0	0	0	0	0	0	28.83	28.83	28.83
1548	-0.57	-146.6	2800	1731	3832	3899	131.3	-10.5	174	1551	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3121	3865	3832	3899	0	0	0	0	0	0	28.83	25.84	28.83
1611	-0.57	-146.6	2800	3136	3833	3899	136.4	-8.0	180	1619	0.00	2.17	0.00	0.000	1030	0.000	0.060	2800	1736	3866	3833	3899	0	0	0	0	0	0	28.83	25.94	28.83
1739	-0.57	-146.6	2799	1736	3832	3899	147.5	-9.0	193	1740	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1736	3865	3832	3899	0	0	0	0	0	0	28.83	28.83	28.83
1859	-0.57	-146.6	2800	1737	3832	3899	158.0	-8.6	205	1860	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1736	3866	3833	3899	0	0	0	0	0	0	28.83	28.83	28.83
1979	-0.57	-146.6	2800	1736	3832	3899	168.2	-8.9	217	1987	0.00	2.20	0.00	0.000	260	0.000	0.070	2800	3135	3866	3833	3899	0	0	0	0	0	0	28.83	25.86	28.83
2044	-0.57	-146.6	2800	3134	3833	3899	173.2	-8.0	223	2051	0.00	2.17	0.00	0.000	1030	0.000	0.057	2800	1731	3866	3833	3899	0	0	0	0	0	0	28.83	25.98	28.83
2130	end dive: TARGET_DEPTH_EXCEEDED
state	2130	begin apogee
2135	-0.21	0.0	2800	1731	3832	3899	180.6	-8.2	232	2242	0.38	0.00	102.75	1.065	10246	0.127	0.000	2929	1731	3368	3339	3398	0	0	0	0	0	0	25.70	28.83	23.68
2243	end apogee: CONTROL_FINISHED_OK
state	2243	begin climb
2247	0.57	146.6	2929	1731	3339	3398	185.5	0.0	243	2363	0.68	2.38	104.68	0.924	10756	0.099	0.074	3176	342	2871	2846	2897	0	0	0	0	0	0	24.59	24.08	23.25
2429	0.57	199.4	3176	342	2845	2898	181.3	5.0	261	2476	0.00	2.22	38.45	0.921	9222	0.000	0.055	3176	1734	2691	2662	2720	0	0	0	0	0	0	28.83	24.68	23.39
2597	0.57	199.4	3176	1735	2663	2720	170.0	7.3	278	2606	0.00	2.28	0.00	0.000	260	0.000	0.067	3176	3133	2691	2663	2720	0	0	0	0	0	0	28.83	24.89	28.83
2691	0.57	199.4	3176	3133	2663	2720	162.6	8.1	287	2698	0.00	2.20	0.00	0.000	1030	0.000	0.057	3185	1737	2691	2663	2720	0	0	0	0	0	0	28.83	25.18	28.83
2818	0.57	210.7	3185	1736	2663	2720	153.8	6.3	300	2830	0.00	0.00	9.60	0.844	8198	0.000	0.000	3186	1736	2654	2628	2680	0	0	0	0	0	0	28.83	28.83	24.12
2948	0.57	232.3	3185	1736	2628	2680	146.5	6.0	313	2968	0.00	0.00	16.48	0.909	8198	0.000	0.000	3186	1736	2581	2558	2604	0	0	0	0	0	0	28.83	28.83	24.13
3088	0.57	279.6	3185	1736	2558	2604	138.9	5.2	327	3129	0.00	2.33	34.00	0.949	8452	0.000	0.070	3186	3139	2420	2402	2439	0	0	0	0	0	0	28.83	24.90	23.95
3164	0.57	359.8	3185	3139	2402	2438	136.0	4.2	334	3231	0.00	2.22	56.80	0.901	9222	0.000	0.057	3195	1732	2149	2141	2158	0	0	0	0	0	0	28.83	25.12	23.67
3354	0.57	359.8	3195	1732	2140	2158	118.8	9.2	353	3362	0.00	2.28	0.00	0.000	260	0.000	0.070	3195	3134	2148	2139	2158	0	0	0	0	0	0	28.83	25.10	28.83
3417	0.57	359.8	3195	3134	2141	2158	112.9	6.8	359	3424	0.00	2.20	0.00	0.000	1030	0.000	0.057	3205	1723	2149	2140	2158	0	0	0	0	0	0	28.83	25.29	28.83
3544	0.57	359.8	3205	1722	2140	2158	104.4	7.4	372	3546	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1722	2149	2140	2158	0	0	0	0	0	0	28.83	28.83	28.83
3665	0.57	359.8	3205	1723	2140	2158	94.0	9.2	384	3673	0.00	2.28	0.00	0.000	260	0.000	0.070	3205	3136	2149	2140	2158	0	0	0	0	0	0	28.83	25.53	28.83
3720	0.57	359.8	3206	3136	2141	2158	88.5	11.6	389	3727	0.15	2.17	0.00	0.000	5126	0.161	0.060	3173	1730	2149	2140	2158	0	0	0	0	0	0	25.41	25.62	28.83
3846	0.57	359.8	3172	1730	2140	2158	78.4	8.1	402	3847	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1730	2149	2140	2159	0	0	0	0	0	0	28.83	28.83	28.83
3966	0.57	359.8	3172	1730	2141	2158	68.1	7.9	414	3974	0.00	2.22	0.00	0.000	260	0.000	0.070	3173	3131	2149	2141	2158	0	0	0	0	0	0	28.83	25.70	28.83
4017	0.57	359.8	3172	3131	2141	2158	63.8	8.8	419	4025	0.00	2.17	0.00	0.000	1030	0.000	0.060	3178	1728	2149	2140	2158	0	0	0	0	0	0	28.83	25.77	28.83
4147	0.57	359.8	3178	1728	2140	2158	53.2	8.7	432	4148	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	1728	2149	2140	2158	0	0	0	0	0	0	28.83	28.83	28.83
4267	0.57	359.8	3177	1728	2140	2158	43.0	8.8	444	4275	0.00	2.22	0.00	0.000	260	0.000	0.070	3178	3133	2149	2140	2158	0	0	0	0	0	0	28.83	25.77	28.83
4307	0.57	359.8	3177	3133	2140	2158	39.2	9.6	448	4316	0.00	2.15	0.00	0.000	1030	0.000	0.060	3179	1728	2149	2141	2158	0	0	0	0	0	0	28.83	25.85	28.83
4438	0.57	359.8	3179	1728	2140	2158	28.6	8.4	461	4446	0.00	2.25	0.00	0.000	260	0.000	0.070	3180	3140	2149	2140	2158	0	0	0	0	0	0	28.83	25.82	28.83
4479	0.57	359.8	3179	3140	2140	2158	25.1	9.0	465	4487	0.00	2.15	0.00	0.000	1030	0.000	0.060	3186	1731	2149	2140	2158	0	0	0	0	0	0	28.83	25.89	28.83
4609	0.57	359.8	3186	1731	2140	2158	13.9	8.8	484	4614	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1731	2149	2140	2158	0	0	0	0	0	0	28.83	28.83	28.83
4676	0.57	359.8	3186	1731	2140	2158	8.7	7.9	497	4683	0.00	2.22	0.00	0.000	260	0.000	0.070	3186	3132	2149	2140	2159	0	0	0	0	0	0	28.83	25.85	28.83
4728	end climb: SURFACE_DEPTH_REACHED
state	4728	begin surface coast
4771	end surface coast: CONTROL_FINISHED_OK
state	4771	begin surface