Glider dive log

Shilshole 13Nov14.01 * SG035 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HD_B 0.011518 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 25 HD_C 1.6100001e-05 ROLL_MIN 35 ALTIM_BOTTOM_PING_RANGE 0

DIVE 14 HEADING -1 ROLL_MAX 3810 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 2332 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2332 ALTIM_TOP_MIN_OBSTACLE 1

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 0 SM_CC 350 R_PORT_OVSHOOT 72 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 37 ALTIM_SENSITIVITY 2

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_VALID 1

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 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 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 275 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3970 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2100 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 540 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 7 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 237 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3815 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2428 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 0.004269524

RHO 1.023 P_OVSHOOT 0.0261427 FG_AHR_24V 0 SEABIRD_T_H 0.00061604282

MASS 77080 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.0033509e-05

MASS_COMP 9247 PITCH_GAIN 23 PRESSURE_YINT -1037.434 SEABIRD_T_J 1.8499288e-06

NAV_MODE 1 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00092600001 SEABIRD_C_G -9.6420546

FERRY_MAX 45 PITCH_AD_RATE 140 AD7714Ch0Gain 32 SEABIRD_C_H 1.1096923

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001213078

HD_A 0.0047458 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016721067

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 48 SEABIRD_T_J 1.8499288e-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 140 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 23 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3815 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 237 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 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 0.00092600001 T_BOOST 0

CALL_WAIT 30 HD_C 1.6100001e-05 PRESSURE_YINT -1037.434 T_DIVE 85

CAPMAXSIZE 1000000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 P_OVSHOOT 0.0261427 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.089000002 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 35 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 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 540

C_PITCH 2428 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2332 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2332 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2100 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 77080 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9247 ROLL_MAX 3810 VBD_BLEED_AD_RATE 7

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_CNV -0.29049999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3970

DEVICE5 -1 MISSION 25 R_PORT_OVSHOOT 72 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 37 VBD_MIN 275

DIVE 14 NAV_MODE 1 SEABIRD_C_G -9.6420546 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 5500 NOCOMM_ACTION 0 SEABIRD_C_H 1.1096923 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.001213078 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00016721067 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.004269524 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00061604282 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.0033509e-05 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 141114,112204,4744.2246,-12224.2598,6,1.6,33,18.2,0.4,13.3,7,5.5 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.045,-0.213

_SM_DEPTHo 1.39 KALMAN_X -49.0,-206.2,-23.7,603.9,155.3

_SM_ANGLEo -61.1 KALMAN_Y 2777.2,41.0,183.0,-683.0,582.2

GPS2 141114,112934,4744.2378,-12224.2168,13,1.3,40,18.2,0.2,67.0,7,5.6 MHEAD_RNG_PITCHd_Wd 173.9,2319,-14.6,-7.059,-17.99,3147

SPEED_LIMITS 0.071,0.217 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.6,1.021157 _10V_AH 10.46,0.668

SM_CCo 4262,148.65,0.988,0,0,895,350.05 FG_AHR_24Vo 0.000

SM_GC 1.23,6.45,2.12,148.65,0.082,0.047,0.988,241,2326,895,-6.77,1.89,350.05,0,0,0,0,0,0,26.34,26.39,24.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,141114,100121 MEM 322808

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 26966,455

HUMID 64.96 CAP_FILE_SIZE 81426,0

INTERNAL_PRESSURE 8.22297 CFSIZE 1024409600,1015758848

TCM_TEMP 19.30 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 INTR 1,2257.75,0x2389de,2,5

ALTIM_BOTTOM_PING 115.4,72.9 GPS 141114,124535,4743.704,-12224.288,13,1.7,53,18.2,0.2,151.1,6,8.3

_24V_AH 23.83,2.857

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 240 86.81 SBE_CT 310 56 415.28

Roll_motor 68 67 109.20 AA4330 600 15 225.00

VBD_pump_during_apogee 209 1114 5571.82 nil 0 0 0.00

VBD_pump_during_surface 148 988 3500.65 nil 0 0 0.00

VBD_valve 110 101 267.83 nil 0 0 0.00

Iridium_during_init 30 52 37.41 nil 0 0 0.00

Iridium_during_connect 42 160 161.38 nil 0 0 0.00

Iridium_during_xfer 264 223 1403.40 nil 0 0 0.00

Transponder_ping 3 420 35.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 26 12.00

TT8 1135 9 118.40

LPSleep 1976 2 45.27

TT8_Active 480 9 50.15

TT8_Sampling 1216 31 403.35

TT8_CF8 69 39 28.96

TT8_Kalman 33 52 18.34

Analog_circuits 978 11 112.61

GPS_charging 0 0 0.00

Compass 824 20 174.42

RAFOS 0 0 0.00

Transponder 10 30 3.24

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 -0.63 -146.6 222 2317 996 799 0.0 0.0 0 113 0.00 0.00 -94.25 0.094 16386 0.000 0.000 222 2317 2239 2228 2251 0 0 0 0 0 0 26.06 28.83 26.08

116 -0.63 -146.6 222 2317 2228 2251 3.4 -2.5 17 146 7.47 2.30 -16.15 0.102 18692 0.241 0.062 2210 3740 2605 2594 2616 0 0 0 0 0 0 25.59 25.77 25.73

303 -0.63 -146.6 2210 3740 2594 2605 26.3 -10.7 48 307 0.00 2.08 0.00 0.000 1030 0.000 0.050 2210 2356 2599 2594 2605 0 0 0 0 0 0 26.01 25.96 26.03

428 -0.63 -146.6 2210 2356 2600 2597 38.0 -8.6 60 432 0.00 2.12 0.00 0.000 516 0.000 0.057 2210 916 2599 2601 2597 0 0 0 0 0 0 26.28 26.03 26.29

567 -0.63 -146.6 2210 916 2608 2590 50.7 -9.5 73 574 0.00 2.12 0.00 0.000 1030 0.000 0.052 2210 2340 2599 2608 2590 0 0 0 0 0 0 26.16 26.10 26.17

694 -0.63 -146.6 2210 2340 2608 2590 62.5 -9.3 86 698 0.00 2.12 0.00 0.000 516 0.000 0.055 2210 910 2599 2608 2590 0 0 0 0 0 0 26.41 26.16 26.41

742 -0.63 -146.6 2210 909 2609 2588 66.4 -8.6 90 749 0.00 2.17 0.00 0.000 1030 0.000 0.052 2210 2335 2598 2609 2588 0 0 0 0 0 0 26.22 26.17 26.22

869 -0.63 -146.6 2210 2335 2609 2587 77.4 -8.0 103 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2335 2598 2609 2587 0 0 0 0 0 0 26.46 26.48 26.47

989 -0.63 -146.6 2210 2335 2609 2587 87.2 -8.1 115 993 0.00 2.15 0.00 0.000 260 0.000 0.065 2210 3745 2598 2609 2587 0 0 0 0 0 0 26.50 26.24 26.51

1035 -0.63 -146.6 2210 3745 2609 2588 90.8 -7.9 119 1039 0.00 2.10 0.00 0.000 1030 0.000 0.050 2210 2320 2598 2609 2588 0 0 0 0 0 0 26.32 26.27 26.34

1162 -0.63 -146.6 2210 2319 2609 2587 100.1 -7.0 131 1171 0.00 2.03 0.00 0.000 516 0.000 0.057 2210 919 2597 2608 2587 0 0 0 0 0 0 26.51 26.29 26.53

1185 -0.63 -146.6 2210 919 2609 2586 101.6 -7.1 133 1193 0.00 2.15 0.00 0.000 1030 0.000 0.052 2210 2340 2597 2609 2586 0 0 0 0 0 0 26.32 26.29 26.34

1312 -0.63 -146.6 2210 2339 2609 2586 109.9 -6.2 146 1316 0.00 2.15 0.00 0.000 260 0.000 0.065 2210 3754 2597 2609 2586 0 0 0 0 0 0 26.56 26.30 26.58

1350 -0.63 -146.6 2210 3754 2609 2587 112.3 -6.3 149 1354 0.00 2.10 0.00 0.000 1030 0.000 0.050 2210 2325 2598 2609 2587 0 0 0 0 0 0 26.39 26.34 26.40

1475 -0.63 -146.6 2210 2325 2609 2586 120.4 -6.4 161 1479 0.00 2.05 0.00 0.000 516 0.000 0.057 2210 915 2597 2609 2586 0 0 0 0 0 0 26.59 26.34 26.60

1541 -0.63 -146.6 2210 915 2609 2586 124.7 -6.8 167 1544 0.00 2.10 0.00 0.000 1030 0.000 0.055 2210 2339 2597 2609 2586 0 0 0 0 0 0 26.41 26.34 26.42

1666 -0.63 -146.6 2210 2339 2609 2586 133.3 -6.9 179 1670 0.00 2.15 0.00 0.000 260 0.000 0.065 2210 3753 2597 2609 2586 0 0 0 0 0 0 26.62 26.36 26.63

1701 -0.63 -146.6 2210 3753 2609 2586 135.6 -6.3 182 1705 0.00 2.10 0.00 0.000 1030 0.000 0.050 2210 2323 2597 2609 2586 0 0 0 0 0 0 26.44 26.39 26.45

1826 -0.63 -146.6 2210 2323 2609 2586 144.2 -7.0 194 1830 0.00 2.17 0.00 0.000 260 0.000 0.065 2210 3744 2597 2609 2586 0 0 0 0 0 0 26.64 26.38 26.65

1902 -0.63 -146.6 2210 3743 2609 2586 149.8 -7.5 201 1906 0.00 2.08 0.00 0.000 1030 0.000 0.050 2210 2330 2597 2609 2586 0 0 0 0 0 0 26.46 26.41 26.48

2027 -0.63 -146.6 2210 2330 2609 2586 158.8 -7.4 213 2028 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2330 2597 2609 2586 0 0 0 0 0 0 26.65 26.67 26.67

2147 -0.63 -146.6 2210 2330 2609 2586 166.8 -6.4 225 2148 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2330 2597 2609 2586 0 0 0 0 0 0 26.67 26.68 26.68

2256 end dive: BOTTOM_OBSTACLE_DETECTED

state 2256 begin apogee

2260 -0.22 0.0 2210 2330 2609 2586 173.9 -6.4 236 2368 0.43 0.00 101.80 1.115 10246 0.122 0.000 2363 2326 2100 2154 2047 0 0 0 0 0 0 26.35 24.65 24.05

2369 end apogee: CONTROL_FINISHED_OK

state 2369 begin climb

2370 0.63 146.6 2362 2325 2154 2047 176.3 0.0 247 2489 0.68 2.35 107.93 1.090 10500 0.089 0.067 2620 3739 1594 1691 1498 0 0 0 0 0 0 24.84 24.46 23.83

2541 0.63 146.6 2620 3739 1690 1500 162.8 11.1 264 2545 0.00 2.17 0.00 0.000 1030 0.000 0.050 2631 2326 1594 1690 1499 0 0 0 0 0 0 25.25 25.20 25.27

2666 0.63 146.6 2630 2326 1690 1499 150.6 9.2 276 2667 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2326 1595 1690 1500 0 0 0 0 0 0 25.82 25.84 25.83

2786 0.63 146.6 2631 2326 1690 1499 139.3 9.3 288 2790 0.00 2.25 0.00 0.000 260 0.000 0.065 2631 3751 1595 1690 1500 0 0 0 0 0 0 26.02 25.77 26.03

2852 0.63 146.6 2631 3751 1690 1500 132.1 11.6 294 2856 0.00 2.12 0.00 0.000 1030 0.000 0.050 2641 2327 1594 1689 1500 0 0 0 0 0 0 25.92 25.87 25.94

2977 0.63 146.6 2641 2327 1690 1500 118.5 11.0 306 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2327 1594 1689 1500 0 0 0 0 0 0 26.20 26.22 26.22

3097 0.63 146.6 2641 2327 1689 1500 104.7 12.2 318 3101 0.00 2.08 0.00 0.000 516 0.000 0.057 2652 920 1594 1689 1499 0 0 0 0 0 0 26.28 26.04 26.29

3153 0.63 146.6 2652 920 1690 1499 98.1 11.6 323 3157 0.00 2.10 0.00 0.000 1030 0.000 0.055 2652 2334 1595 1690 1500 0 0 0 0 0 0 26.13 26.07 26.14

3278 0.63 146.6 2652 2334 1690 1499 84.4 11.2 335 3282 0.00 2.17 0.00 0.000 260 0.000 0.065 2652 3747 1595 1690 1500 0 0 0 0 0 0 26.36 26.11 26.37

3327 0.63 146.6 2652 3747 1690 1500 78.5 12.8 339 3335 0.10 2.15 0.00 0.000 5126 0.156 0.047 2629 2321 1594 1689 1500 0 0 0 0 0 0 26.04 26.17 26.12

3454 0.63 146.6 2629 2321 1689 1500 65.7 9.9 352 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2321 1595 1690 1500 0 0 0 0 0 0 26.43 26.44 26.44

3574 0.63 146.6 2629 2321 1690 1500 55.5 8.4 364 3575 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2320 1595 1690 1500 0 0 0 0 0 0 26.47 26.48 26.48

3694 0.63 146.6 2629 2320 1689 1500 45.0 8.9 376 3695 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2321 1594 1689 1500 0 0 0 0 0 0 26.50 26.52 26.51

3814 0.63 146.6 2628 2321 1690 1500 34.4 9.2 388 3818 0.00 2.05 0.00 0.000 516 0.000 0.057 2639 929 1594 1689 1500 0 0 0 0 0 0 26.53 26.29 26.54

3855 0.63 146.6 2639 920 1690 1500 30.6 9.9 392 3859 0.00 2.10 0.00 0.000 1030 0.000 0.052 2639 2345 1594 1689 1500 0 0 0 0 0 0 26.36 26.29 26.36

3980 0.63 146.6 2638 2345 1690 1500 19.6 8.9 404 3986 0.00 2.12 0.00 0.000 260 0.000 0.065 2640 3742 1595 1690 1500 0 0 0 0 0 0 26.56 26.31 26.58

4032 0.63 146.6 2639 3742 1689 1500 14.9 9.0 414 4039 0.00 2.08 0.00 0.000 1030 0.000 0.050 2650 2317 1594 1689 1500 0 0 0 0 0 0 26.40 26.35 26.41

4101 0.63 146.6 2649 2317 1689 1500 9.9 8.2 427 4107 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2317 1595 1690 1500 0 0 0 0 0 0 26.58 26.60 26.60

4168 0.63 146.6 2650 2317 1690 1500 4.9 7.2 440 4175 0.00 2.22 0.00 0.000 260 0.000 0.062 2650 3747 1594 1689 1500 0 0 0 0 0 0 26.59 26.34 26.60

4215 end climb: SURFACE_DEPTH_REACHED

state 4216 begin surface coast

4247 end surface coast: CONTROL_FINISHED_OK

state 4247 begin surface

ID	35	HD_B	0.011518	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	25	HD_C	1.6100001e-05	ROLL_MIN	35	ALTIM_BOTTOM_PING_RANGE	0
DIVE	14	HEADING	-1	ROLL_MAX	3810	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	2332	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2332	ALTIM_TOP_MIN_OBSTACLE	1
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	0	SM_CC	350	R_PORT_OVSHOOT	72	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	2
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_VALID	1
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	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	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	275	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3970	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2100	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	540	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	7	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	237	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3815	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2428	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	0.004269524
RHO	1.023	P_OVSHOOT	0.0261427	FG_AHR_24V	0	SEABIRD_T_H	0.00061604282
MASS	77080	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.0033509e-05
MASS_COMP	9247	PITCH_GAIN	23	PRESSURE_YINT	-1037.434	SEABIRD_T_J	1.8499288e-06
NAV_MODE	1	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00092600001	SEABIRD_C_G	-9.6420546
FERRY_MAX	45	PITCH_AD_RATE	140	AD7714Ch0Gain	32	SEABIRD_C_H	1.1096923
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001213078
HD_A	0.0047458	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016721067

GPS1	141114,112204,4744.2246,-12224.2598,6,1.6,33,18.2,0.4,13.3,7,5.5	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.045,-0.213
_SM_DEPTHo	1.39	KALMAN_X	-49.0,-206.2,-23.7,603.9,155.3
_SM_ANGLEo	-61.1	KALMAN_Y	2777.2,41.0,183.0,-683.0,582.2
GPS2	141114,112934,4744.2378,-12224.2168,13,1.3,40,18.2,0.2,67.0,7,5.6	MHEAD_RNG_PITCHd_Wd	173.9,2319,-14.6,-7.059,-17.99,3147
SPEED_LIMITS	0.071,0.217	D_GRID	180

FINISH	0.6,1.021157	_10V_AH	10.46,0.668
SM_CCo	4262,148.65,0.988,0,0,895,350.05	FG_AHR_24Vo	0.000
SM_GC	1.23,6.45,2.12,148.65,0.082,0.047,0.988,241,2326,895,-6.77,1.89,350.05,0,0,0,0,0,0,26.34,26.39,24.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,141114,100121	MEM	322808
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	26966,455
HUMID	64.96	CAP_FILE_SIZE	81426,0
INTERNAL_PRESSURE	8.22297	CFSIZE	1024409600,1015758848
TCM_TEMP	19.30	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	INTR	1,2257.75,0x2389de,2,5
ALTIM_BOTTOM_PING	115.4,72.9	GPS	141114,124535,4743.704,-12224.288,13,1.7,53,18.2,0.2,151.1,6,8.3
_24V_AH	23.83,2.857

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	240	86.81	SBE_CT	310	56	415.28
Roll_motor	68	67	109.20	AA4330	600	15	225.00
VBD_pump_during_apogee	209	1114	5571.82	nil	0	0	0.00
VBD_pump_during_surface	148	988	3500.65	nil	0	0	0.00
VBD_valve	110	101	267.83	nil	0	0	0.00
Iridium_during_init	30	52	37.41	nil	0	0	0.00
Iridium_during_connect	42	160	161.38	nil	0	0	0.00
Iridium_during_xfer	264	223	1403.40	nil	0	0	0.00
Transponder_ping	3	420	35.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	26	12.00
TT8	1135	9	118.40
LPSleep	1976	2	45.27
TT8_Active	480	9	50.15
TT8_Sampling	1216	31	403.35
TT8_CF8	69	39	28.96
TT8_Kalman	33	52	18.34
Analog_circuits	978	11	112.61
GPS_charging	0	0	0.00
Compass	824	20	174.42
RAFOS	0	0	0.00
Transponder	10	30	3.24

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	-0.63	-146.6	222	2317	996	799	0.0	0.0	0	113	0.00	0.00	-94.25	0.094	16386	0.000	0.000	222	2317	2239	2228	2251	0	0	0	0	0	0	26.06	28.83	26.08
116	-0.63	-146.6	222	2317	2228	2251	3.4	-2.5	17	146	7.47	2.30	-16.15	0.102	18692	0.241	0.062	2210	3740	2605	2594	2616	0	0	0	0	0	0	25.59	25.77	25.73
303	-0.63	-146.6	2210	3740	2594	2605	26.3	-10.7	48	307	0.00	2.08	0.00	0.000	1030	0.000	0.050	2210	2356	2599	2594	2605	0	0	0	0	0	0	26.01	25.96	26.03
428	-0.63	-146.6	2210	2356	2600	2597	38.0	-8.6	60	432	0.00	2.12	0.00	0.000	516	0.000	0.057	2210	916	2599	2601	2597	0	0	0	0	0	0	26.28	26.03	26.29
567	-0.63	-146.6	2210	916	2608	2590	50.7	-9.5	73	574	0.00	2.12	0.00	0.000	1030	0.000	0.052	2210	2340	2599	2608	2590	0	0	0	0	0	0	26.16	26.10	26.17
694	-0.63	-146.6	2210	2340	2608	2590	62.5	-9.3	86	698	0.00	2.12	0.00	0.000	516	0.000	0.055	2210	910	2599	2608	2590	0	0	0	0	0	0	26.41	26.16	26.41
742	-0.63	-146.6	2210	909	2609	2588	66.4	-8.6	90	749	0.00	2.17	0.00	0.000	1030	0.000	0.052	2210	2335	2598	2609	2588	0	0	0	0	0	0	26.22	26.17	26.22
869	-0.63	-146.6	2210	2335	2609	2587	77.4	-8.0	103	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2335	2598	2609	2587	0	0	0	0	0	0	26.46	26.48	26.47
989	-0.63	-146.6	2210	2335	2609	2587	87.2	-8.1	115	993	0.00	2.15	0.00	0.000	260	0.000	0.065	2210	3745	2598	2609	2587	0	0	0	0	0	0	26.50	26.24	26.51
1035	-0.63	-146.6	2210	3745	2609	2588	90.8	-7.9	119	1039	0.00	2.10	0.00	0.000	1030	0.000	0.050	2210	2320	2598	2609	2588	0	0	0	0	0	0	26.32	26.27	26.34
1162	-0.63	-146.6	2210	2319	2609	2587	100.1	-7.0	131	1171	0.00	2.03	0.00	0.000	516	0.000	0.057	2210	919	2597	2608	2587	0	0	0	0	0	0	26.51	26.29	26.53
1185	-0.63	-146.6	2210	919	2609	2586	101.6	-7.1	133	1193	0.00	2.15	0.00	0.000	1030	0.000	0.052	2210	2340	2597	2609	2586	0	0	0	0	0	0	26.32	26.29	26.34
1312	-0.63	-146.6	2210	2339	2609	2586	109.9	-6.2	146	1316	0.00	2.15	0.00	0.000	260	0.000	0.065	2210	3754	2597	2609	2586	0	0	0	0	0	0	26.56	26.30	26.58
1350	-0.63	-146.6	2210	3754	2609	2587	112.3	-6.3	149	1354	0.00	2.10	0.00	0.000	1030	0.000	0.050	2210	2325	2598	2609	2587	0	0	0	0	0	0	26.39	26.34	26.40
1475	-0.63	-146.6	2210	2325	2609	2586	120.4	-6.4	161	1479	0.00	2.05	0.00	0.000	516	0.000	0.057	2210	915	2597	2609	2586	0	0	0	0	0	0	26.59	26.34	26.60
1541	-0.63	-146.6	2210	915	2609	2586	124.7	-6.8	167	1544	0.00	2.10	0.00	0.000	1030	0.000	0.055	2210	2339	2597	2609	2586	0	0	0	0	0	0	26.41	26.34	26.42
1666	-0.63	-146.6	2210	2339	2609	2586	133.3	-6.9	179	1670	0.00	2.15	0.00	0.000	260	0.000	0.065	2210	3753	2597	2609	2586	0	0	0	0	0	0	26.62	26.36	26.63
1701	-0.63	-146.6	2210	3753	2609	2586	135.6	-6.3	182	1705	0.00	2.10	0.00	0.000	1030	0.000	0.050	2210	2323	2597	2609	2586	0	0	0	0	0	0	26.44	26.39	26.45
1826	-0.63	-146.6	2210	2323	2609	2586	144.2	-7.0	194	1830	0.00	2.17	0.00	0.000	260	0.000	0.065	2210	3744	2597	2609	2586	0	0	0	0	0	0	26.64	26.38	26.65
1902	-0.63	-146.6	2210	3743	2609	2586	149.8	-7.5	201	1906	0.00	2.08	0.00	0.000	1030	0.000	0.050	2210	2330	2597	2609	2586	0	0	0	0	0	0	26.46	26.41	26.48
2027	-0.63	-146.6	2210	2330	2609	2586	158.8	-7.4	213	2028	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2330	2597	2609	2586	0	0	0	0	0	0	26.65	26.67	26.67
2147	-0.63	-146.6	2210	2330	2609	2586	166.8	-6.4	225	2148	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2330	2597	2609	2586	0	0	0	0	0	0	26.67	26.68	26.68
2256	end dive: BOTTOM_OBSTACLE_DETECTED
state	2256	begin apogee
2260	-0.22	0.0	2210	2330	2609	2586	173.9	-6.4	236	2368	0.43	0.00	101.80	1.115	10246	0.122	0.000	2363	2326	2100	2154	2047	0	0	0	0	0	0	26.35	24.65	24.05
2369	end apogee: CONTROL_FINISHED_OK
state	2369	begin climb
2370	0.63	146.6	2362	2325	2154	2047	176.3	0.0	247	2489	0.68	2.35	107.93	1.090	10500	0.089	0.067	2620	3739	1594	1691	1498	0	0	0	0	0	0	24.84	24.46	23.83
2541	0.63	146.6	2620	3739	1690	1500	162.8	11.1	264	2545	0.00	2.17	0.00	0.000	1030	0.000	0.050	2631	2326	1594	1690	1499	0	0	0	0	0	0	25.25	25.20	25.27
2666	0.63	146.6	2630	2326	1690	1499	150.6	9.2	276	2667	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2326	1595	1690	1500	0	0	0	0	0	0	25.82	25.84	25.83
2786	0.63	146.6	2631	2326	1690	1499	139.3	9.3	288	2790	0.00	2.25	0.00	0.000	260	0.000	0.065	2631	3751	1595	1690	1500	0	0	0	0	0	0	26.02	25.77	26.03
2852	0.63	146.6	2631	3751	1690	1500	132.1	11.6	294	2856	0.00	2.12	0.00	0.000	1030	0.000	0.050	2641	2327	1594	1689	1500	0	0	0	0	0	0	25.92	25.87	25.94
2977	0.63	146.6	2641	2327	1690	1500	118.5	11.0	306	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2327	1594	1689	1500	0	0	0	0	0	0	26.20	26.22	26.22
3097	0.63	146.6	2641	2327	1689	1500	104.7	12.2	318	3101	0.00	2.08	0.00	0.000	516	0.000	0.057	2652	920	1594	1689	1499	0	0	0	0	0	0	26.28	26.04	26.29
3153	0.63	146.6	2652	920	1690	1499	98.1	11.6	323	3157	0.00	2.10	0.00	0.000	1030	0.000	0.055	2652	2334	1595	1690	1500	0	0	0	0	0	0	26.13	26.07	26.14
3278	0.63	146.6	2652	2334	1690	1499	84.4	11.2	335	3282	0.00	2.17	0.00	0.000	260	0.000	0.065	2652	3747	1595	1690	1500	0	0	0	0	0	0	26.36	26.11	26.37
3327	0.63	146.6	2652	3747	1690	1500	78.5	12.8	339	3335	0.10	2.15	0.00	0.000	5126	0.156	0.047	2629	2321	1594	1689	1500	0	0	0	0	0	0	26.04	26.17	26.12
3454	0.63	146.6	2629	2321	1689	1500	65.7	9.9	352	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2321	1595	1690	1500	0	0	0	0	0	0	26.43	26.44	26.44
3574	0.63	146.6	2629	2321	1690	1500	55.5	8.4	364	3575	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2320	1595	1690	1500	0	0	0	0	0	0	26.47	26.48	26.48
3694	0.63	146.6	2629	2320	1689	1500	45.0	8.9	376	3695	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2321	1594	1689	1500	0	0	0	0	0	0	26.50	26.52	26.51
3814	0.63	146.6	2628	2321	1690	1500	34.4	9.2	388	3818	0.00	2.05	0.00	0.000	516	0.000	0.057	2639	929	1594	1689	1500	0	0	0	0	0	0	26.53	26.29	26.54
3855	0.63	146.6	2639	920	1690	1500	30.6	9.9	392	3859	0.00	2.10	0.00	0.000	1030	0.000	0.052	2639	2345	1594	1689	1500	0	0	0	0	0	0	26.36	26.29	26.36
3980	0.63	146.6	2638	2345	1690	1500	19.6	8.9	404	3986	0.00	2.12	0.00	0.000	260	0.000	0.065	2640	3742	1595	1690	1500	0	0	0	0	0	0	26.56	26.31	26.58
4032	0.63	146.6	2639	3742	1689	1500	14.9	9.0	414	4039	0.00	2.08	0.00	0.000	1030	0.000	0.050	2650	2317	1594	1689	1500	0	0	0	0	0	0	26.40	26.35	26.41
4101	0.63	146.6	2649	2317	1689	1500	9.9	8.2	427	4107	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2317	1595	1690	1500	0	0	0	0	0	0	26.58	26.60	26.60
4168	0.63	146.6	2650	2317	1690	1500	4.9	7.2	440	4175	0.00	2.22	0.00	0.000	260	0.000	0.062	2650	3747	1594	1689	1500	0	0	0	0	0	0	26.59	26.34	26.60
4215	end climb: SURFACE_DEPTH_REACHED
state	4216	begin surface coast
4247	end surface coast: CONTROL_FINISHED_OK
state	4247	begin surface