Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 12 * 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 12 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 27 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 -989803.19 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 -989803.19

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 27 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 12 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 070214,071125,4743.170,-12225.124,9,1.9,10,18.2 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 4 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.111,0.182

_SM_DEPTHo 1.02 KALMAN_X -944.8,167.4,-307.7,356.4,-405.3

_SM_ANGLEo -68.9 KALMAN_Y -361.2,511.4,-772.9,-1309.1,-392.5

GPS2 070214,071633,4743.157,-12225.147,9,2.8,29,18.2 MHEAD_RNG_PITCHd_Wd 13.1,2614,-13.8,-6.667,-17.39,3328

SPEED_LIMITS 0.067,0.213 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.4,0.999970 _24V_AH 23.2,38.640

SM_CCo 5126,50.30,0.949,0,0,2351,300.22 _10V_AH 10.3,4.798

SM_GC 1.49,7.90,0.00,50.30,0.062,0.000,0.949,221,1733,2351,-8.60,-0.06,300.22,0,0,0,0,0,0,25.78,28.83,24.13 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12224.09,070214,050524 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 354608

HUMID 39.40 DATA_FILE_SIZE 30186,553

INTERNAL_PRESSURE 8.47689 CAP_FILE_SIZE 88277,0

TCM_TEMP 17.60 CFSIZE 260165632,242356224

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

ALTIM_TOP_PING 19.4,19.5 GPS 070214,084457,4743.558,-12224.797,8,2.4,28,18.2

ALTIM_BOTTOM_PING 165.3,32.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 112.19 SBE_CT 378 56 492.80

Roll_motor 70 72 117.94 AA4330 727 15 265.62

VBD_pump_during_apogee 269 1090 6803.97 nil 0 0 0.00

VBD_pump_during_surface 50 948 1106.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 52 34.49 nil 0 0 0.00

Iridium_during_connect 18 160 69.59 nil 0 0 0.00

Iridium_during_xfer 151 223 784.77 nil 0 0 0.00

Transponder_ping 8 420 77.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 26 8.79

TT8 1308 9 134.33

LPSleep 2336 2 52.71

TT8_Active 484 9 49.79

TT8_Sampling 1250 31 408.14

TT8_CF8 117 39 48.35

TT8_Kalman 33 52 18.02

Analog_circuits 1102 11 124.97

GPS_charging 0 0 0.00

Compass 992 20 206.79

RAFOS 0 0 0.00

Transponder 41 30 12.98

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

16 -0.57 -146.6 244 1731 2124 2169 0.0 0.0 0 132 0.00 0.00 -113.53 0.000 16386 0.000 0.000 245 1731 3470 3429 3512 0 0 0 0 0 0 28.83 28.83 28.83

135 -0.57 -146.6 244 1731 3429 3511 3.1 -1.9 21 170 10.43 0.00 -17.00 0.000 18438 0.248 0.000 2805 1726 3866 3833 3900 0 0 0 0 0 0 25.02 28.83 25.51

232 -0.57 -146.6 2805 1726 3833 3900 14.3 -9.3 39 238 0.00 2.25 0.00 0.000 260 0.000 0.070 2800 3140 3866 3833 3900 0 0 0 0 0 0 28.83 25.60 28.83

338 -0.57 -146.6 2798 3140 3833 3899 23.8 -8.3 55 345 0.00 2.20 0.00 0.000 1030 0.000 0.057 2799 1713 3866 3833 3900 0 0 0 0 0 0 28.83 25.74 28.83

466 -0.57 -146.6 2799 1713 3833 3900 34.9 -8.7 68 467 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1713 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

586 -0.57 -146.6 2799 1713 3833 3900 45.8 -9.0 80 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1713 3866 3833 3899 0 0 0 0 0 0 28.83 28.83 28.83

706 -0.57 -146.6 2800 1713 3833 3900 56.9 -9.2 92 714 0.00 2.25 0.00 0.000 260 0.000 0.070 2798 3130 3866 3833 3900 0 0 0 0 0 0 28.83 25.75 28.83

777 -0.57 -146.6 2798 3130 3833 3900 63.8 -9.1 99 785 0.00 2.12 0.00 0.000 1030 0.000 0.060 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 25.86 28.83

907 -0.57 -146.6 2798 1733 3833 3900 74.1 -8.7 112 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1027 -0.57 -146.6 2798 1734 3833 3900 83.6 -7.4 124 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1147 -0.57 -146.6 2798 1734 3833 3900 92.6 -8.5 136 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1267 -0.57 -146.6 2798 1734 3833 3900 98.8 -4.1 148 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1387 -0.57 -146.6 2798 1734 3833 3900 107.4 -7.2 160 1395 0.00 2.22 0.00 0.000 260 0.000 0.070 2798 3141 3866 3833 3900 0 0 0 0 0 0 28.83 25.84 28.83

1470 -0.57 -146.6 2798 3141 3833 3900 113.2 -7.4 168 1477 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1730 3866 3833 3900 0 0 0 0 0 0 28.83 25.96 28.83

1598 -0.57 -146.6 2798 1730 3833 3900 122.1 -6.1 181 1607 0.00 2.25 0.00 0.000 260 0.000 0.070 2798 3140 3866 3833 3900 0 0 0 0 0 0 28.83 25.85 28.83

1640 -0.57 -146.6 2798 3140 3833 3899 125.0 -6.6 185 1649 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1721 3866 3833 3900 0 0 0 0 0 0 28.83 25.97 28.83

1770 -0.57 -146.6 2798 1722 3833 3900 133.0 -6.3 198 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1722 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1889 -0.57 -146.6 2798 1721 3833 3900 140.9 -5.9 210 1898 0.00 2.25 0.00 0.000 260 0.000 0.070 2798 3136 3866 3833 3900 0 0 0 0 0 0 28.83 25.87 28.83

1954 -0.57 -146.6 2798 3136 3833 3900 144.6 -5.4 216 1963 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1734 3866 3833 3900 0 0 0 0 0 0 28.83 25.98 28.83

2081 -0.57 -146.6 2797 1734 3833 3900 153.5 -6.2 229 2089 0.00 2.20 0.00 0.000 260 0.000 0.070 2798 3132 3866 3833 3900 0 0 0 0 0 0 28.83 25.89 28.83

2162 -0.57 -146.6 2798 3131 3833 3900 159.4 -7.3 237 2166 0.00 2.12 0.00 0.000 1030 0.000 0.057 2798 1727 3866 3833 3899 0 0 0 0 0 0 28.83 26.00 28.83

2287 -0.57 -146.6 2797 1727 3833 3899 167.6 -6.0 249 2296 0.00 2.25 0.00 0.000 260 0.000 0.070 2798 3141 3866 3833 3900 0 0 0 0 0 0 28.83 25.89 28.83

2331 -0.57 -146.6 2798 3141 3833 3899 170.7 -7.2 253 2338 0.00 2.15 0.00 0.000 1030 0.000 0.057 2798 1723 3866 3833 3900 0 0 0 0 0 0 28.83 26.01 28.83

2458 -0.57 -146.6 2798 1723 3833 3900 180.0 -7.0 266 2467 0.00 2.22 0.00 0.000 260 0.000 0.070 2798 3133 3866 3833 3900 0 0 0 0 0 0 28.83 25.89 28.83

2470 end dive: TARGET_DEPTH_EXCEEDED

state 2470 begin apogee

2476 -0.21 0.0 2798 1731 3833 3900 180.5 -7.3 267 2584 0.38 0.00 103.03 1.090 10246 0.127 0.000 2930 1731 3368 3338 3399 0 0 0 0 0 0 25.69 28.83 23.62

2585 end apogee: CONTROL_FINISHED_OK

state 2586 begin climb

2588 0.57 146.6 2930 1731 3338 3399 184.4 0.0 278 2704 0.65 2.40 104.68 0.924 10756 0.097 0.072 3172 307 2870 2844 2897 0 0 0 0 0 0 24.57 24.08 23.25

2752 0.57 153.2 3172 307 2844 2897 178.0 6.5 294 2767 0.00 2.28 6.12 0.723 9222 0.000 0.055 3172 1740 2849 2823 2876 0 0 0 0 0 0 28.83 24.58 23.44

2888 0.57 192.5 3172 1740 2823 2875 169.5 5.5 308 2927 0.00 2.28 29.08 0.939 8452 0.000 0.070 3172 3129 2715 2690 2741 0 0 0 0 0 0 28.83 24.63 23.65

3019 0.57 192.5 3172 3129 2690 2741 159.2 7.8 321 3028 0.00 2.25 0.00 0.000 1030 0.000 0.057 3182 1707 2715 2690 2741 0 0 0 0 0 0 28.83 25.08 28.83

3150 0.57 192.5 3182 1707 2690 2741 148.6 7.5 334 3158 0.00 2.30 0.00 0.000 260 0.000 0.070 3182 3130 2715 2690 2741 0 0 0 0 0 0 28.83 25.28 28.83

3224 0.57 192.5 3181 3130 2690 2742 142.8 8.4 341 3230 0.00 2.17 0.00 0.000 1030 0.000 0.060 3191 1734 2715 2690 2741 0 0 0 0 0 0 28.83 25.45 28.83

3351 0.57 192.5 3191 1734 2690 2742 131.7 9.0 354 3352 0.00 0.00 0.00 0.000 6 0.000 0.000 3191 1733 2715 2689 2741 0 0 0 0 0 0 28.83 28.83 28.83

3471 0.57 192.5 3191 1733 2690 2741 121.6 8.7 366 3479 0.00 2.22 0.00 0.000 260 0.000 0.070 3191 3131 2715 2690 2741 0 0 0 0 0 0 28.83 25.57 28.83

3532 0.57 192.5 3191 3131 2690 2741 116.1 9.2 372 3536 0.00 2.15 0.00 0.000 1030 0.000 0.057 3201 1734 2715 2689 2741 0 0 0 0 0 0 28.83 25.68 28.83

3657 0.57 192.5 3200 1734 2690 2741 105.8 8.0 384 3658 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 1734 2715 2690 2741 0 0 0 0 0 0 28.83 28.83 28.83

3777 0.57 192.5 3201 1734 2690 2741 96.4 7.8 396 3778 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 1734 2715 2690 2741 0 0 0 0 0 0 28.83 28.83 28.83

3897 0.57 192.5 3201 1733 2690 2741 86.8 8.2 408 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 1734 2715 2690 2741 0 0 0 0 0 0 28.83 28.83 28.83

4017 0.57 192.5 3201 1733 2690 2741 77.1 8.1 420 4025 0.00 2.22 0.00 0.000 260 0.000 0.070 3201 3138 2715 2690 2741 0 0 0 0 0 0 28.83 25.75 28.83

4050 0.57 192.5 3201 3138 2690 2741 74.6 7.4 423 4058 0.12 2.15 0.00 0.000 5126 0.171 0.057 3178 1731 2715 2690 2741 0 0 0 0 0 0 25.61 25.85 28.83

4178 0.57 192.5 3178 1731 2689 2741 64.8 7.6 436 4186 0.00 2.20 0.00 0.000 516 0.000 0.072 3188 330 2715 2689 2741 0 0 0 0 0 0 28.83 25.77 28.83

4211 0.57 192.5 3188 330 2689 2741 62.2 8.5 439 4218 0.00 2.12 0.00 0.000 1030 0.000 0.055 3188 1746 2715 2689 2741 0 0 0 0 0 0 28.83 25.89 28.83

4339 0.57 199.5 3188 1747 2689 2741 53.8 6.5 452 4349 0.00 0.00 6.50 0.755 8198 0.000 0.000 3188 1747 2692 2663 2721 0 0 0 0 0 0 28.83 28.83 24.60

4469 0.57 208.5 3188 1747 2663 2721 45.2 6.4 465 4479 0.00 0.00 7.97 0.792 8198 0.000 0.000 3188 1747 2661 2635 2688 0 0 0 0 0 0 28.83 28.83 24.60

4598 0.57 208.5 3188 1747 2635 2688 36.8 7.3 478 4600 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 1747 2661 2634 2688 0 0 0 0 0 0 28.83 28.83 28.83

4719 0.57 223.2 3188 1747 2634 2688 29.0 6.2 490 4739 0.00 2.22 11.68 0.852 8452 0.000 0.072 3188 3127 2611 2587 2635 0 0 0 0 0 0 28.83 25.69 24.60

4801 0.57 223.2 3188 3127 2586 2634 23.1 7.3 498 4809 0.00 2.15 0.00 0.000 1030 0.000 0.057 3199 1725 2610 2587 2634 0 0 0 0 0 0 28.83 25.75 28.83

4932 0.57 223.2 3198 1725 2587 2634 13.2 7.8 519 4939 0.00 2.22 0.00 0.000 260 0.000 0.070 3198 3129 2610 2587 2634 0 0 0 0 0 0 28.83 25.72 28.83

5016 0.57 223.2 3198 3129 2587 2634 6.4 7.7 535 5023 0.00 2.12 0.00 0.000 1030 0.000 0.060 3206 1733 2610 2587 2634 0 0 0 0 0 0 28.83 25.82 28.83

5048 end climb: SURFACE_DEPTH_REACHED

state 5048 begin surface coast

5109 end surface coast: CONTROL_FINISHED_OK

state 5111 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	12	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	27	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	-989803.19	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	070214,071125,4743.170,-12225.124,9,1.9,10,18.2	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	4	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.111,0.182
_SM_DEPTHo	1.02	KALMAN_X	-944.8,167.4,-307.7,356.4,-405.3
_SM_ANGLEo	-68.9	KALMAN_Y	-361.2,511.4,-772.9,-1309.1,-392.5
GPS2	070214,071633,4743.157,-12225.147,9,2.8,29,18.2	MHEAD_RNG_PITCHd_Wd	13.1,2614,-13.8,-6.667,-17.39,3328
SPEED_LIMITS	0.067,0.213	D_GRID	180

FINISH	-0.4,0.999970	_24V_AH	23.2,38.640
SM_CCo	5126,50.30,0.949,0,0,2351,300.22	_10V_AH	10.3,4.798
SM_GC	1.49,7.90,0.00,50.30,0.062,0.000,0.949,221,1733,2351,-8.60,-0.06,300.22,0,0,0,0,0,0,25.78,28.83,24.13	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12224.09,070214,050524	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	354608
HUMID	39.40	DATA_FILE_SIZE	30186,553
INTERNAL_PRESSURE	8.47689	CAP_FILE_SIZE	88277,0
TCM_TEMP	17.60	CFSIZE	260165632,242356224
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.4,19.5	GPS	070214,084457,4743.558,-12224.797,8,2.4,28,18.2
ALTIM_BOTTOM_PING	165.3,32.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	112.19	SBE_CT	378	56	492.80
Roll_motor	70	72	117.94	AA4330	727	15	265.62
VBD_pump_during_apogee	269	1090	6803.97	nil	0	0	0.00
VBD_pump_during_surface	50	948	1106.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	52	34.49	nil	0	0	0.00
Iridium_during_connect	18	160	69.59	nil	0	0	0.00
Iridium_during_xfer	151	223	784.77	nil	0	0	0.00
Transponder_ping	8	420	77.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	26	8.79
TT8	1308	9	134.33
LPSleep	2336	2	52.71
TT8_Active	484	9	49.79
TT8_Sampling	1250	31	408.14
TT8_CF8	117	39	48.35
TT8_Kalman	33	52	18.02
Analog_circuits	1102	11	124.97
GPS_charging	0	0	0.00
Compass	992	20	206.79
RAFOS	0	0	0.00
Transponder	41	30	12.98

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
16	-0.57	-146.6	244	1731	2124	2169	0.0	0.0	0	132	0.00	0.00	-113.53	0.000	16386	0.000	0.000	245	1731	3470	3429	3512	0	0	0	0	0	0	28.83	28.83	28.83
135	-0.57	-146.6	244	1731	3429	3511	3.1	-1.9	21	170	10.43	0.00	-17.00	0.000	18438	0.248	0.000	2805	1726	3866	3833	3900	0	0	0	0	0	0	25.02	28.83	25.51
232	-0.57	-146.6	2805	1726	3833	3900	14.3	-9.3	39	238	0.00	2.25	0.00	0.000	260	0.000	0.070	2800	3140	3866	3833	3900	0	0	0	0	0	0	28.83	25.60	28.83
338	-0.57	-146.6	2798	3140	3833	3899	23.8	-8.3	55	345	0.00	2.20	0.00	0.000	1030	0.000	0.057	2799	1713	3866	3833	3900	0	0	0	0	0	0	28.83	25.74	28.83
466	-0.57	-146.6	2799	1713	3833	3900	34.9	-8.7	68	467	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1713	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
586	-0.57	-146.6	2799	1713	3833	3900	45.8	-9.0	80	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1713	3866	3833	3899	0	0	0	0	0	0	28.83	28.83	28.83
706	-0.57	-146.6	2800	1713	3833	3900	56.9	-9.2	92	714	0.00	2.25	0.00	0.000	260	0.000	0.070	2798	3130	3866	3833	3900	0	0	0	0	0	0	28.83	25.75	28.83
777	-0.57	-146.6	2798	3130	3833	3900	63.8	-9.1	99	785	0.00	2.12	0.00	0.000	1030	0.000	0.060	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	25.86	28.83
907	-0.57	-146.6	2798	1733	3833	3900	74.1	-8.7	112	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1027	-0.57	-146.6	2798	1734	3833	3900	83.6	-7.4	124	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1147	-0.57	-146.6	2798	1734	3833	3900	92.6	-8.5	136	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1267	-0.57	-146.6	2798	1734	3833	3900	98.8	-4.1	148	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1387	-0.57	-146.6	2798	1734	3833	3900	107.4	-7.2	160	1395	0.00	2.22	0.00	0.000	260	0.000	0.070	2798	3141	3866	3833	3900	0	0	0	0	0	0	28.83	25.84	28.83
1470	-0.57	-146.6	2798	3141	3833	3900	113.2	-7.4	168	1477	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1730	3866	3833	3900	0	0	0	0	0	0	28.83	25.96	28.83
1598	-0.57	-146.6	2798	1730	3833	3900	122.1	-6.1	181	1607	0.00	2.25	0.00	0.000	260	0.000	0.070	2798	3140	3866	3833	3900	0	0	0	0	0	0	28.83	25.85	28.83
1640	-0.57	-146.6	2798	3140	3833	3899	125.0	-6.6	185	1649	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1721	3866	3833	3900	0	0	0	0	0	0	28.83	25.97	28.83
1770	-0.57	-146.6	2798	1722	3833	3900	133.0	-6.3	198	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	1722	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1889	-0.57	-146.6	2798	1721	3833	3900	140.9	-5.9	210	1898	0.00	2.25	0.00	0.000	260	0.000	0.070	2798	3136	3866	3833	3900	0	0	0	0	0	0	28.83	25.87	28.83
1954	-0.57	-146.6	2798	3136	3833	3900	144.6	-5.4	216	1963	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1734	3866	3833	3900	0	0	0	0	0	0	28.83	25.98	28.83
2081	-0.57	-146.6	2797	1734	3833	3900	153.5	-6.2	229	2089	0.00	2.20	0.00	0.000	260	0.000	0.070	2798	3132	3866	3833	3900	0	0	0	0	0	0	28.83	25.89	28.83
2162	-0.57	-146.6	2798	3131	3833	3900	159.4	-7.3	237	2166	0.00	2.12	0.00	0.000	1030	0.000	0.057	2798	1727	3866	3833	3899	0	0	0	0	0	0	28.83	26.00	28.83
2287	-0.57	-146.6	2797	1727	3833	3899	167.6	-6.0	249	2296	0.00	2.25	0.00	0.000	260	0.000	0.070	2798	3141	3866	3833	3900	0	0	0	0	0	0	28.83	25.89	28.83
2331	-0.57	-146.6	2798	3141	3833	3899	170.7	-7.2	253	2338	0.00	2.15	0.00	0.000	1030	0.000	0.057	2798	1723	3866	3833	3900	0	0	0	0	0	0	28.83	26.01	28.83
2458	-0.57	-146.6	2798	1723	3833	3900	180.0	-7.0	266	2467	0.00	2.22	0.00	0.000	260	0.000	0.070	2798	3133	3866	3833	3900	0	0	0	0	0	0	28.83	25.89	28.83
2470	end dive: TARGET_DEPTH_EXCEEDED
state	2470	begin apogee
2476	-0.21	0.0	2798	1731	3833	3900	180.5	-7.3	267	2584	0.38	0.00	103.03	1.090	10246	0.127	0.000	2930	1731	3368	3338	3399	0	0	0	0	0	0	25.69	28.83	23.62
2585	end apogee: CONTROL_FINISHED_OK
state	2586	begin climb
2588	0.57	146.6	2930	1731	3338	3399	184.4	0.0	278	2704	0.65	2.40	104.68	0.924	10756	0.097	0.072	3172	307	2870	2844	2897	0	0	0	0	0	0	24.57	24.08	23.25
2752	0.57	153.2	3172	307	2844	2897	178.0	6.5	294	2767	0.00	2.28	6.12	0.723	9222	0.000	0.055	3172	1740	2849	2823	2876	0	0	0	0	0	0	28.83	24.58	23.44
2888	0.57	192.5	3172	1740	2823	2875	169.5	5.5	308	2927	0.00	2.28	29.08	0.939	8452	0.000	0.070	3172	3129	2715	2690	2741	0	0	0	0	0	0	28.83	24.63	23.65
3019	0.57	192.5	3172	3129	2690	2741	159.2	7.8	321	3028	0.00	2.25	0.00	0.000	1030	0.000	0.057	3182	1707	2715	2690	2741	0	0	0	0	0	0	28.83	25.08	28.83
3150	0.57	192.5	3182	1707	2690	2741	148.6	7.5	334	3158	0.00	2.30	0.00	0.000	260	0.000	0.070	3182	3130	2715	2690	2741	0	0	0	0	0	0	28.83	25.28	28.83
3224	0.57	192.5	3181	3130	2690	2742	142.8	8.4	341	3230	0.00	2.17	0.00	0.000	1030	0.000	0.060	3191	1734	2715	2690	2741	0	0	0	0	0	0	28.83	25.45	28.83
3351	0.57	192.5	3191	1734	2690	2742	131.7	9.0	354	3352	0.00	0.00	0.00	0.000	6	0.000	0.000	3191	1733	2715	2689	2741	0	0	0	0	0	0	28.83	28.83	28.83
3471	0.57	192.5	3191	1733	2690	2741	121.6	8.7	366	3479	0.00	2.22	0.00	0.000	260	0.000	0.070	3191	3131	2715	2690	2741	0	0	0	0	0	0	28.83	25.57	28.83
3532	0.57	192.5	3191	3131	2690	2741	116.1	9.2	372	3536	0.00	2.15	0.00	0.000	1030	0.000	0.057	3201	1734	2715	2689	2741	0	0	0	0	0	0	28.83	25.68	28.83
3657	0.57	192.5	3200	1734	2690	2741	105.8	8.0	384	3658	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	1734	2715	2690	2741	0	0	0	0	0	0	28.83	28.83	28.83
3777	0.57	192.5	3201	1734	2690	2741	96.4	7.8	396	3778	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	1734	2715	2690	2741	0	0	0	0	0	0	28.83	28.83	28.83
3897	0.57	192.5	3201	1733	2690	2741	86.8	8.2	408	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	1734	2715	2690	2741	0	0	0	0	0	0	28.83	28.83	28.83
4017	0.57	192.5	3201	1733	2690	2741	77.1	8.1	420	4025	0.00	2.22	0.00	0.000	260	0.000	0.070	3201	3138	2715	2690	2741	0	0	0	0	0	0	28.83	25.75	28.83
4050	0.57	192.5	3201	3138	2690	2741	74.6	7.4	423	4058	0.12	2.15	0.00	0.000	5126	0.171	0.057	3178	1731	2715	2690	2741	0	0	0	0	0	0	25.61	25.85	28.83
4178	0.57	192.5	3178	1731	2689	2741	64.8	7.6	436	4186	0.00	2.20	0.00	0.000	516	0.000	0.072	3188	330	2715	2689	2741	0	0	0	0	0	0	28.83	25.77	28.83
4211	0.57	192.5	3188	330	2689	2741	62.2	8.5	439	4218	0.00	2.12	0.00	0.000	1030	0.000	0.055	3188	1746	2715	2689	2741	0	0	0	0	0	0	28.83	25.89	28.83
4339	0.57	199.5	3188	1747	2689	2741	53.8	6.5	452	4349	0.00	0.00	6.50	0.755	8198	0.000	0.000	3188	1747	2692	2663	2721	0	0	0	0	0	0	28.83	28.83	24.60
4469	0.57	208.5	3188	1747	2663	2721	45.2	6.4	465	4479	0.00	0.00	7.97	0.792	8198	0.000	0.000	3188	1747	2661	2635	2688	0	0	0	0	0	0	28.83	28.83	24.60
4598	0.57	208.5	3188	1747	2635	2688	36.8	7.3	478	4600	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	1747	2661	2634	2688	0	0	0	0	0	0	28.83	28.83	28.83
4719	0.57	223.2	3188	1747	2634	2688	29.0	6.2	490	4739	0.00	2.22	11.68	0.852	8452	0.000	0.072	3188	3127	2611	2587	2635	0	0	0	0	0	0	28.83	25.69	24.60
4801	0.57	223.2	3188	3127	2586	2634	23.1	7.3	498	4809	0.00	2.15	0.00	0.000	1030	0.000	0.057	3199	1725	2610	2587	2634	0	0	0	0	0	0	28.83	25.75	28.83
4932	0.57	223.2	3198	1725	2587	2634	13.2	7.8	519	4939	0.00	2.22	0.00	0.000	260	0.000	0.070	3198	3129	2610	2587	2634	0	0	0	0	0	0	28.83	25.72	28.83
5016	0.57	223.2	3198	3129	2587	2634	6.4	7.7	535	5023	0.00	2.12	0.00	0.000	1030	0.000	0.060	3206	1733	2610	2587	2634	0	0	0	0	0	0	28.83	25.82	28.83
5048	end climb: SURFACE_DEPTH_REACHED
state	5048	begin surface coast
5109	end surface coast: CONTROL_FINISHED_OK
state	5111	begin surface