Glider dive log

Shilshole 13Nov14 * SG039 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 39 HD_B 0.011518 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 3 HD_C 1.6100001e-05 ROLL_MIN 245 ALTIM_BOTTOM_PING_RANGE 0

DIVE 13 HEADING -1 ROLL_MAX 3845 ALTIM_TOP_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1700 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_TOP_MIN_OBSTACLE 0

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 100

D_ABORT 5500 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 3 SM_CC 350 R_PORT_OVSHOOT 33 ALTIM_PULSE 4

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 49 ALTIM_SENSITIVITY 4

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_VALID 1

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 1.2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 200 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2617 DEVICE1 2

T_DIVE 85 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 100 CALL_TRIES 10 VBD_CNV -0.29049999 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 1000000 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 60 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 0.0099999998 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 150 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3910 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2880 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 0.0044030095

RHO 1.0275 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_H 0.00064263446

MASS 78291 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.7272366e-05

MASS_COMP 9185.7002 PITCH_GAIN 21 PRESSURE_YINT -1076.7625 SEABIRD_T_J 3.452938e-06

NAV_MODE 1 PITCH_TIMEOUT 18 PRESSURE_SLOPE 0.00094170001 SEABIRD_C_G -9.7790155

FERRY_MAX 45 PITCH_AD_RATE 165 AD7714Ch0Gain 32 SEABIRD_C_H 1.1333548

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00086257502

HD_A 0.0047458 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00014502628

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.452938e-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 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_AD_RATE 165 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 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAX 3910 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.0047458 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 10 HD_B 0.011518 PRESSURE_SLOPE 0.00094170001 T_BOOST 0

CALL_WAIT 30 HD_C 1.6100001e-05 PRESSURE_YINT -1076.7625 T_DIVE 85

CAPMAXSIZE 1000000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.0099999998 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 39 RAFOS_DEVICE -1 T_MISSION 100

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.2 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 2880 LOGGERDEVICE1 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 1700 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_VBD 2617 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78291 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9185.7002 ROLL_MAX 3845 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 245 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_PORT_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 49 VBD_MIN 200

DIVE 13 NAV_MODE 1 SEABIRD_C_G -9.7790155 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 5500 NOCOMM_ACTION 0 SEABIRD_C_H 1.1333548 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 3 N_DIVES 0 SEABIRD_C_I -0.00086257502 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00014502628 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.0044030095 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00064263446 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7272366e-05 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 141114,114657,4743.9355,-12224.2754,4,0.8,11,16.3,0.0,0.0,9,8.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.053,-0.210

_SM_DEPTHo 1.97 KALMAN_X -34.1,-16.0,-58.8,170.0,144.3

_SM_ANGLEo -64.4 KALMAN_Y 2700.6,-35.6,296.7,-1194.8,388.4

GPS2 141114,115445,4743.9214,-12224.2412,5,0.8,13,16.3,0.0,0.0,9,7.7 MHEAD_RNG_PITCHd_Wd 177.9,1736,-14.6,-7.059,-18.01,3147

SPEED_LIMITS 0.071,0.217 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.7,0.999770 _10V_AH 10.53,2.002

SM_CCo 4505,161.77,0.521,1,0,1412,350.05 FG_AHR_24Vo 0.000

SM_GC 1.99,7.38,2.28,161.77,0.060,0.055,0.521,156,1691,1412,-8.45,0.79,350.05,0,0,0,0,1,0,26.93,26.94,25.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12348.50,141114,114811 MEM 322944

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 26840,493

HUMID 53.89 CAP_FILE_SIZE 81628,1

INTERNAL_PRESSURE 9.0421 CFSIZE 1024409600,1019822080

TCM_TEMP 19.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 1 INTR 0,5426.99,0x2389de,7,5

ALTIM_BOTTOM_PING 140.0,51.3 GPS 141114,131432,4743.364,-12224.455,4,0.8,14,16.3,0.0,0.0,9,9.7

_24V_AH 24.68,2.355

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 270 127.58 SBE_CT 330 23 189.13

Roll_motor 55 96 131.63 AA4330 649 13 216.19

VBD_pump_during_apogee 207 809 4144.32 nil 0 0 0.00

VBD_pump_during_surface 161 521 2081.87 nil 0 0 0.00

VBD_valve 143 141 500.37 nil 0 0 0.00

Iridium_during_init 33 12 10.17 nil 0 0 0.00

Iridium_during_connect 56 160 223.23 nil 0 0 0.00

Iridium_during_xfer 288 223 1588.55 nil 0 0 0.00

Transponder_ping 3 420 31.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.49

TT8 1201 11 148.25

LPSleep 2050 2 47.28

TT8_Active 527 11 65.14

TT8_Sampling 1338 35 503.02

TT8_CF8 40 44 19.16

TT8_Kalman 33 58 20.38

Analog_circuits 1057 10 111.32

GPS_charging 0 0 0.00

Compass 912 8 79.15

RAFOS 0 0 0.00

Transponder 21 30 6.72

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

14 -0.70 -146.0 145 1686 1298 1525 0.0 0.0 0 123 0.00 0.00 -105.85 0.134 16386 0.000 0.000 145 1686 2551 2439 2663 0 0 0 0 0 0 26.59 28.83 26.61

125 -0.70 -146.0 145 1686 2439 2663 3.0 -0.8 19 182 10.20 2.22 -37.40 0.142 19204 0.271 0.062 2638 3097 3121 3002 3240 0 0 0 0 0 0 25.96 26.15 26.05

407 -0.70 -146.0 2638 3097 3002 3239 26.4 -6.6 64 414 0.00 2.15 0.00 0.000 1030 0.000 0.055 2638 1692 3120 3001 3239 0 0 0 0 0 0 26.51 26.48 26.53

534 -0.70 -146.0 2637 1692 3002 3239 37.2 -8.1 77 538 0.00 2.15 0.00 0.000 260 0.000 0.062 2628 3093 3120 3002 3239 0 0 0 0 0 0 26.84 26.55 26.85

602 -0.70 -146.0 2628 3093 3002 3239 42.6 -7.9 83 610 0.00 2.12 0.00 0.000 1030 0.000 0.055 2628 1692 3120 3002 3239 0 0 0 0 0 0 26.65 26.60 26.67

730 -0.70 -146.0 2627 1693 3002 3239 54.3 -8.8 96 734 0.00 2.12 0.00 0.000 516 0.000 0.072 2628 283 3120 3002 3239 0 0 0 0 0 0 26.94 26.64 26.96

875 -0.70 -146.0 2628 283 3002 3239 68.9 -10.3 110 880 0.12 2.05 0.00 0.000 3078 0.179 0.052 2658 1717 3120 3002 3239 0 0 0 0 0 0 26.60 26.74 26.74

1000 -0.70 -146.0 2658 1717 3002 3239 78.5 -7.1 122 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 1717 3120 3002 3239 0 0 0 0 0 0 27.04 27.06 27.05

1120 -0.70 -146.0 2658 1717 3002 3239 86.9 -7.1 134 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 1717 3120 3002 3239 0 0 0 0 0 0 27.07 27.10 27.09

1241 -0.70 -146.0 2658 1717 3002 3240 94.5 -6.3 146 1245 0.00 2.15 0.00 0.000 516 0.000 0.070 2659 291 3120 3002 3239 0 0 0 0 0 0 27.10 26.80 27.13

1326 -0.70 -146.0 2658 291 3002 3239 100.8 -7.1 154 1330 0.00 2.00 0.00 0.000 1030 0.000 0.050 2648 1700 3120 3002 3239 0 0 0 0 0 0 26.94 26.87 26.96

1451 -0.70 -146.0 2648 1700 3002 3239 109.4 -6.9 166 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 1700 3120 3002 3239 0 0 0 0 0 0 27.15 27.17 27.16

1571 -0.70 -146.0 2648 1700 3002 3238 117.3 -6.5 178 1575 0.00 2.15 0.00 0.000 516 0.000 0.070 2648 286 3120 3002 3239 0 0 0 0 0 0 27.16 26.86 27.18

1713 -0.70 -146.0 2648 286 3002 3239 127.4 -7.4 191 1721 0.00 2.05 0.00 0.000 1030 0.000 0.050 2638 1699 3120 3002 3239 0 0 0 0 0 0 26.96 26.94 26.98

1840 -0.70 -146.0 2638 1698 3001 3239 136.0 -5.7 204 1844 0.00 2.12 0.00 0.000 516 0.000 0.070 2638 284 3120 3002 3239 0 0 0 0 0 0 27.19 26.89 27.21

1909 -0.70 -146.0 2638 284 3002 3239 141.1 -7.4 210 1913 0.00 2.00 0.00 0.000 1030 0.000 0.050 2628 1700 3120 3002 3239 0 0 0 0 0 0 27.01 26.95 27.03

2035 -0.70 -146.0 2628 1700 3002 3239 150.4 -7.4 222 2038 0.00 2.08 0.00 0.000 260 0.000 0.062 2618 3090 3120 3002 3239 0 0 0 0 0 0 27.22 26.93 27.23

2163 -0.70 -146.0 2617 3090 3001 3239 160.8 -8.5 234 2171 0.10 2.08 0.00 0.000 3078 0.156 0.055 2653 1697 3120 3002 3239 0 0 0 0 0 0 26.84 26.96 26.93

2290 -0.70 -146.0 2652 1697 3002 3239 170.1 -6.5 247 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 1697 3120 3002 3239 0 0 0 0 0 0 27.24 27.27 27.26

2399 end dive: BOTTOM_OBSTACLE_DETECTED

state 2399 begin apogee

2403 -0.24 0.0 2652 1805 3002 3239 176.6 -5.7 258 2511 0.43 0.00 102.97 0.809 10246 0.134 0.000 2803 1805 2617 2519 2715 0 0 0 0 0 0 26.88 25.49 24.96

2512 end apogee: CONTROL_FINISHED_OK

state 2512 begin climb

2513 0.70 146.0 2802 1805 2519 2714 178.3 0.0 269 2630 0.77 2.20 104.47 0.777 10500 0.104 0.065 3086 3194 2114 2029 2199 0 0 0 0 0 0 25.56 25.06 24.68

2655 0.70 146.0 3086 3194 2029 2199 169.2 8.7 283 2663 0.00 2.20 0.00 0.000 1030 0.000 0.055 3097 1800 2114 2029 2199 0 0 0 0 0 0 25.67 25.63 25.70

2782 0.70 146.0 3097 1801 2029 2199 156.8 9.4 296 2783 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 1801 2114 2029 2199 0 0 0 0 0 0 26.37 26.40 26.39

2902 0.70 146.0 3096 1801 2029 2199 145.8 9.1 308 2906 0.00 2.12 0.00 0.000 260 0.000 0.062 3097 3191 2113 2029 2198 0 0 0 0 0 0 26.59 26.32 26.60

2941 0.70 146.0 3097 3191 2029 2199 142.3 10.1 311 2948 0.00 2.12 0.00 0.000 1030 0.000 0.055 3107 1801 2113 2029 2198 0 0 0 0 0 0 26.42 26.37 26.44

3068 0.70 146.0 3107 1801 2029 2199 129.5 9.6 324 3069 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 1801 2114 2030 2199 0 0 0 0 0 0 26.77 26.79 26.78

3188 0.70 146.0 3107 1801 2028 2199 116.9 10.6 336 3192 0.00 2.15 0.00 0.000 516 0.000 0.072 3118 384 2114 2029 2199 0 0 0 0 0 0 26.85 26.55 26.86

3253 0.70 146.0 3118 384 2029 2199 110.2 9.7 342 3257 0.00 2.03 0.00 0.000 1030 0.000 0.052 3118 1795 2114 2029 2199 0 0 0 0 0 0 26.70 26.64 26.72

3378 0.70 146.0 3118 1796 2029 2199 97.8 9.4 354 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 1796 2113 2029 2198 0 0 0 0 0 0 26.94 26.97 26.96

3498 0.70 146.0 3118 1796 2029 2199 86.5 9.0 366 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 1796 2114 2029 2199 0 0 0 0 0 0 27.00 27.02 27.02

3618 0.70 146.0 3118 1796 2029 2199 75.3 9.5 378 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 1796 2114 2029 2199 0 0 0 0 0 0 27.04 27.06 27.05

3738 0.70 146.0 3118 1796 2029 2199 63.9 9.1 390 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 1796 2114 2029 2199 0 0 0 0 0 0 27.08 27.10 27.10

3858 0.70 146.0 3118 1796 2029 2199 52.3 9.2 402 3862 0.00 2.12 0.00 0.000 260 0.000 0.065 3118 3208 2114 2029 2199 0 0 0 0 0 0 27.10 26.82 27.13

3944 0.70 146.0 3118 3208 2029 2199 43.1 11.5 410 3948 0.00 2.08 0.00 0.000 1030 0.000 0.055 3128 1794 2114 2029 2199 0 0 0 0 0 0 26.94 26.86 26.95

4069 0.70 146.0 3128 1794 2029 2199 31.3 9.5 422 4073 0.00 2.12 0.00 0.000 516 0.000 0.070 3138 386 2114 2029 2199 0 0 0 0 0 0 27.15 26.85 27.17

4199 0.70 146.0 3138 386 2029 2199 17.7 10.1 437 4207 0.10 2.03 0.00 0.000 5126 0.179 0.050 3105 1813 2113 2029 2198 0 0 0 0 0 0 26.79 26.92 26.92

4268 0.70 146.0 3105 1812 2029 2199 12.6 7.1 450 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 1813 2114 2029 2199 0 0 0 0 0 0 27.18 27.20 27.20

4335 0.70 146.0 3105 1812 2029 2199 8.1 6.7 463 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 1812 2114 2029 2199 0 0 0 0 0 0 27.20 27.22 27.21

4403 0.70 146.0 3105 1812 2029 2199 4.2 6.1 476 4409 0.00 2.05 0.00 0.000 260 0.000 0.062 3104 3198 2114 2029 2199 0 0 0 0 0 0 27.20 26.92 27.22

4449 end climb: SURFACE_DEPTH_REACHED

state 4450 begin surface coast

4490 end surface coast: CONTROL_FINISHED_OK

state 4490 begin surface

ID	39	HD_B	0.011518	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	3	HD_C	1.6100001e-05	ROLL_MIN	245	ALTIM_BOTTOM_PING_RANGE	0
DIVE	13	HEADING	-1	ROLL_MAX	3845	ALTIM_TOP_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1700	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_TOP_MIN_OBSTACLE	0
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	100
D_ABORT	5500	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	3	SM_CC	350	R_PORT_OVSHOOT	33	ALTIM_PULSE	4
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	4
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_VALID	1
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	1.2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	200	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2617	DEVICE1	2
T_DIVE	85	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	100	CALL_TRIES	10	VBD_CNV	-0.29049999	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	1000000	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	60	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	0.0099999998	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	150	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3910	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2880	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	0.0044030095
RHO	1.0275	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_H	0.00064263446
MASS	78291	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.7272366e-05
MASS_COMP	9185.7002	PITCH_GAIN	21	PRESSURE_YINT	-1076.7625	SEABIRD_T_J	3.452938e-06
NAV_MODE	1	PITCH_TIMEOUT	18	PRESSURE_SLOPE	0.00094170001	SEABIRD_C_G	-9.7790155
FERRY_MAX	45	PITCH_AD_RATE	165	AD7714Ch0Gain	32	SEABIRD_C_H	1.1333548
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00086257502
HD_A	0.0047458	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00014502628

GPS1	141114,114657,4743.9355,-12224.2754,4,0.8,11,16.3,0.0,0.0,9,8.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.053,-0.210
_SM_DEPTHo	1.97	KALMAN_X	-34.1,-16.0,-58.8,170.0,144.3
_SM_ANGLEo	-64.4	KALMAN_Y	2700.6,-35.6,296.7,-1194.8,388.4
GPS2	141114,115445,4743.9214,-12224.2412,5,0.8,13,16.3,0.0,0.0,9,7.7	MHEAD_RNG_PITCHd_Wd	177.9,1736,-14.6,-7.059,-18.01,3147
SPEED_LIMITS	0.071,0.217	D_GRID	180

FINISH	0.7,0.999770	_10V_AH	10.53,2.002
SM_CCo	4505,161.77,0.521,1,0,1412,350.05	FG_AHR_24Vo	0.000
SM_GC	1.99,7.38,2.28,161.77,0.060,0.055,0.521,156,1691,1412,-8.45,0.79,350.05,0,0,0,0,1,0,26.93,26.94,25.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12348.50,141114,114811	MEM	322944
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	26840,493
HUMID	53.89	CAP_FILE_SIZE	81628,1
INTERNAL_PRESSURE	9.0421	CFSIZE	1024409600,1019822080
TCM_TEMP	19.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	1	INTR	0,5426.99,0x2389de,7,5
ALTIM_BOTTOM_PING	140.0,51.3	GPS	141114,131432,4743.364,-12224.455,4,0.8,14,16.3,0.0,0.0,9,9.7
_24V_AH	24.68,2.355

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	270	127.58	SBE_CT	330	23	189.13
Roll_motor	55	96	131.63	AA4330	649	13	216.19
VBD_pump_during_apogee	207	809	4144.32	nil	0	0	0.00
VBD_pump_during_surface	161	521	2081.87	nil	0	0	0.00
VBD_valve	143	141	500.37	nil	0	0	0.00
Iridium_during_init	33	12	10.17	nil	0	0	0.00
Iridium_during_connect	56	160	223.23	nil	0	0	0.00
Iridium_during_xfer	288	223	1588.55	nil	0	0	0.00
Transponder_ping	3	420	31.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.49
TT8	1201	11	148.25
LPSleep	2050	2	47.28
TT8_Active	527	11	65.14
TT8_Sampling	1338	35	503.02
TT8_CF8	40	44	19.16
TT8_Kalman	33	58	20.38
Analog_circuits	1057	10	111.32
GPS_charging	0	0	0.00
Compass	912	8	79.15
RAFOS	0	0	0.00
Transponder	21	30	6.72

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
14	-0.70	-146.0	145	1686	1298	1525	0.0	0.0	0	123	0.00	0.00	-105.85	0.134	16386	0.000	0.000	145	1686	2551	2439	2663	0	0	0	0	0	0	26.59	28.83	26.61
125	-0.70	-146.0	145	1686	2439	2663	3.0	-0.8	19	182	10.20	2.22	-37.40	0.142	19204	0.271	0.062	2638	3097	3121	3002	3240	0	0	0	0	0	0	25.96	26.15	26.05
407	-0.70	-146.0	2638	3097	3002	3239	26.4	-6.6	64	414	0.00	2.15	0.00	0.000	1030	0.000	0.055	2638	1692	3120	3001	3239	0	0	0	0	0	0	26.51	26.48	26.53
534	-0.70	-146.0	2637	1692	3002	3239	37.2	-8.1	77	538	0.00	2.15	0.00	0.000	260	0.000	0.062	2628	3093	3120	3002	3239	0	0	0	0	0	0	26.84	26.55	26.85
602	-0.70	-146.0	2628	3093	3002	3239	42.6	-7.9	83	610	0.00	2.12	0.00	0.000	1030	0.000	0.055	2628	1692	3120	3002	3239	0	0	0	0	0	0	26.65	26.60	26.67
730	-0.70	-146.0	2627	1693	3002	3239	54.3	-8.8	96	734	0.00	2.12	0.00	0.000	516	0.000	0.072	2628	283	3120	3002	3239	0	0	0	0	0	0	26.94	26.64	26.96
875	-0.70	-146.0	2628	283	3002	3239	68.9	-10.3	110	880	0.12	2.05	0.00	0.000	3078	0.179	0.052	2658	1717	3120	3002	3239	0	0	0	0	0	0	26.60	26.74	26.74
1000	-0.70	-146.0	2658	1717	3002	3239	78.5	-7.1	122	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	1717	3120	3002	3239	0	0	0	0	0	0	27.04	27.06	27.05
1120	-0.70	-146.0	2658	1717	3002	3239	86.9	-7.1	134	1121	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	1717	3120	3002	3239	0	0	0	0	0	0	27.07	27.10	27.09
1241	-0.70	-146.0	2658	1717	3002	3240	94.5	-6.3	146	1245	0.00	2.15	0.00	0.000	516	0.000	0.070	2659	291	3120	3002	3239	0	0	0	0	0	0	27.10	26.80	27.13
1326	-0.70	-146.0	2658	291	3002	3239	100.8	-7.1	154	1330	0.00	2.00	0.00	0.000	1030	0.000	0.050	2648	1700	3120	3002	3239	0	0	0	0	0	0	26.94	26.87	26.96
1451	-0.70	-146.0	2648	1700	3002	3239	109.4	-6.9	166	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	1700	3120	3002	3239	0	0	0	0	0	0	27.15	27.17	27.16
1571	-0.70	-146.0	2648	1700	3002	3238	117.3	-6.5	178	1575	0.00	2.15	0.00	0.000	516	0.000	0.070	2648	286	3120	3002	3239	0	0	0	0	0	0	27.16	26.86	27.18
1713	-0.70	-146.0	2648	286	3002	3239	127.4	-7.4	191	1721	0.00	2.05	0.00	0.000	1030	0.000	0.050	2638	1699	3120	3002	3239	0	0	0	0	0	0	26.96	26.94	26.98
1840	-0.70	-146.0	2638	1698	3001	3239	136.0	-5.7	204	1844	0.00	2.12	0.00	0.000	516	0.000	0.070	2638	284	3120	3002	3239	0	0	0	0	0	0	27.19	26.89	27.21
1909	-0.70	-146.0	2638	284	3002	3239	141.1	-7.4	210	1913	0.00	2.00	0.00	0.000	1030	0.000	0.050	2628	1700	3120	3002	3239	0	0	0	0	0	0	27.01	26.95	27.03
2035	-0.70	-146.0	2628	1700	3002	3239	150.4	-7.4	222	2038	0.00	2.08	0.00	0.000	260	0.000	0.062	2618	3090	3120	3002	3239	0	0	0	0	0	0	27.22	26.93	27.23
2163	-0.70	-146.0	2617	3090	3001	3239	160.8	-8.5	234	2171	0.10	2.08	0.00	0.000	3078	0.156	0.055	2653	1697	3120	3002	3239	0	0	0	0	0	0	26.84	26.96	26.93
2290	-0.70	-146.0	2652	1697	3002	3239	170.1	-6.5	247	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	1697	3120	3002	3239	0	0	0	0	0	0	27.24	27.27	27.26
2399	end dive: BOTTOM_OBSTACLE_DETECTED
state	2399	begin apogee
2403	-0.24	0.0	2652	1805	3002	3239	176.6	-5.7	258	2511	0.43	0.00	102.97	0.809	10246	0.134	0.000	2803	1805	2617	2519	2715	0	0	0	0	0	0	26.88	25.49	24.96
2512	end apogee: CONTROL_FINISHED_OK
state	2512	begin climb
2513	0.70	146.0	2802	1805	2519	2714	178.3	0.0	269	2630	0.77	2.20	104.47	0.777	10500	0.104	0.065	3086	3194	2114	2029	2199	0	0	0	0	0	0	25.56	25.06	24.68
2655	0.70	146.0	3086	3194	2029	2199	169.2	8.7	283	2663	0.00	2.20	0.00	0.000	1030	0.000	0.055	3097	1800	2114	2029	2199	0	0	0	0	0	0	25.67	25.63	25.70
2782	0.70	146.0	3097	1801	2029	2199	156.8	9.4	296	2783	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	1801	2114	2029	2199	0	0	0	0	0	0	26.37	26.40	26.39
2902	0.70	146.0	3096	1801	2029	2199	145.8	9.1	308	2906	0.00	2.12	0.00	0.000	260	0.000	0.062	3097	3191	2113	2029	2198	0	0	0	0	0	0	26.59	26.32	26.60
2941	0.70	146.0	3097	3191	2029	2199	142.3	10.1	311	2948	0.00	2.12	0.00	0.000	1030	0.000	0.055	3107	1801	2113	2029	2198	0	0	0	0	0	0	26.42	26.37	26.44
3068	0.70	146.0	3107	1801	2029	2199	129.5	9.6	324	3069	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	1801	2114	2030	2199	0	0	0	0	0	0	26.77	26.79	26.78
3188	0.70	146.0	3107	1801	2028	2199	116.9	10.6	336	3192	0.00	2.15	0.00	0.000	516	0.000	0.072	3118	384	2114	2029	2199	0	0	0	0	0	0	26.85	26.55	26.86
3253	0.70	146.0	3118	384	2029	2199	110.2	9.7	342	3257	0.00	2.03	0.00	0.000	1030	0.000	0.052	3118	1795	2114	2029	2199	0	0	0	0	0	0	26.70	26.64	26.72
3378	0.70	146.0	3118	1796	2029	2199	97.8	9.4	354	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	1796	2113	2029	2198	0	0	0	0	0	0	26.94	26.97	26.96
3498	0.70	146.0	3118	1796	2029	2199	86.5	9.0	366	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	1796	2114	2029	2199	0	0	0	0	0	0	27.00	27.02	27.02
3618	0.70	146.0	3118	1796	2029	2199	75.3	9.5	378	3619	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	1796	2114	2029	2199	0	0	0	0	0	0	27.04	27.06	27.05
3738	0.70	146.0	3118	1796	2029	2199	63.9	9.1	390	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	1796	2114	2029	2199	0	0	0	0	0	0	27.08	27.10	27.10
3858	0.70	146.0	3118	1796	2029	2199	52.3	9.2	402	3862	0.00	2.12	0.00	0.000	260	0.000	0.065	3118	3208	2114	2029	2199	0	0	0	0	0	0	27.10	26.82	27.13
3944	0.70	146.0	3118	3208	2029	2199	43.1	11.5	410	3948	0.00	2.08	0.00	0.000	1030	0.000	0.055	3128	1794	2114	2029	2199	0	0	0	0	0	0	26.94	26.86	26.95
4069	0.70	146.0	3128	1794	2029	2199	31.3	9.5	422	4073	0.00	2.12	0.00	0.000	516	0.000	0.070	3138	386	2114	2029	2199	0	0	0	0	0	0	27.15	26.85	27.17
4199	0.70	146.0	3138	386	2029	2199	17.7	10.1	437	4207	0.10	2.03	0.00	0.000	5126	0.179	0.050	3105	1813	2113	2029	2198	0	0	0	0	0	0	26.79	26.92	26.92
4268	0.70	146.0	3105	1812	2029	2199	12.6	7.1	450	4274	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	1813	2114	2029	2199	0	0	0	0	0	0	27.18	27.20	27.20
4335	0.70	146.0	3105	1812	2029	2199	8.1	6.7	463	4341	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	1812	2114	2029	2199	0	0	0	0	0	0	27.20	27.22	27.21
4403	0.70	146.0	3105	1812	2029	2199	4.2	6.1	476	4409	0.00	2.05	0.00	0.000	260	0.000	0.062	3104	3198	2114	2029	2199	0	0	0	0	0	0	27.20	26.92	27.22
4449	end climb: SURFACE_DEPTH_REACHED
state	4450	begin surface coast
4490	end surface coast: CONTROL_FINISHED_OK
state	4490	begin surface