Glider dive log

Shilshole 06Jan15 * SG038 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.0099999998 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 2 HD_C 9.9999997e-06 ROLL_MIN 250 ALTIM_BOTTOM_PING_RANGE 0

DIVE 15 HEADING 90 ROLL_MAX 3825 ALTIM_TOP_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2169 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2169 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 110

D_ABORT 300 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 290 R_PORT_OVSHOOT 53 ALTIM_PULSE 2

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 39 ALTIM_SENSITIVITY 3

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

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 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.4000001

SURFACE_URGENCY 0 N_NOCOMM 2 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 2627 DEVICE1 2

T_DIVE 75 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 100 CALL_TRIES 5 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 540 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY -6 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 3 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 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 3830 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2990 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 0.004402326

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.00064293214

MASS 78054 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.6613103e-05

MASS_COMP 9134.2002 PITCH_GAIN 19 PRESSURE_YINT -1022.0887 SEABIRD_T_J 3.266618e-06

NAV_MODE 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00093318848 SEABIRD_C_G -9.6536341

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1178679

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014615374

HD_A 0.003 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00018686533

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.266618e-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 3 PITCH_ADJ_GAIN 0 SM_CC 290

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_AD_RATE 145 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 110 FERRY_MAX 45 PITCH_GAIN 19 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_MAX 3830 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00093318848 T_BOOST 0

CALL_WAIT 30 HD_C 9.9999997e-06 PRESSURE_YINT -1022.0887 T_DIVE 75

CAPMAXSIZE 200000 HEADING 90 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 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 38 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 -2.4000001 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 540

C_PITCH 2990 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2169 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2169 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2627 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY -6

DEEPGLIDER 1 MASS 78054 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9134.2002 ROLL_MAX 3825 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 250 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 2 R_PORT_OVSHOOT 53 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 39 VBD_MIN 200

DIVE 15 NAV_MODE 1 SEABIRD_C_G -9.6536341 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 300 NOCOMM_ACTION 0 SEABIRD_C_H 1.1178679 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.0014615374 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00018686533 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.004402326 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_H 0.00064293214 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6613103e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070115,151600,4742.7573,-12226.2852,3,0.9,18,16.3,0.0,0.0,8,9.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4742.778,-12210.212

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.54 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070115,152258,4742.7783,-12226.2617,6,0.9,33,16.3,0.0,0.0,8,9.9 MHEAD_RNG_PITCHd_Wd 73.7,20000,-14.0,-8.000,-18.40,2768

SPEED_LIMITS 0.080,0.240 D_GRID 189

Post-dive calculations and measurements:

FINISH 0.3,0.999716 _10V_AH 10.57,0.759

SM_CCo 4500,52.95,0.760,0,0,1627,290.20 FG_AHR_24Vo 0.000

SM_GC 2.07,8.15,2.10,52.95,0.084,0.074,0.760,137,2169,1627,-8.86,1.39,290.20,0,0,0,0,0,0,26.29,26.30,25.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,070115,133041 MEM 323044

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 26838,486

HUMID 46.88 CAP_FILE_SIZE 77611,0

INTERNAL_PRESSURE 9.00669 CFSIZE 1024409600,1020510208

TCM_TEMP 17.70 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 1,4303.27,0x2356fe,1,24

ALTIM_BOTTOM_PING 130.3,80.1 GPS 070115,164028,4742.813,-12225.746,36,1.0,37,16.3,0.0,0.0,8,8.4

_24V_AH 24.40,2.052

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 260 124.37 SBE_CT 324 23 184.06

Roll_motor 58 94 134.34 AA4330 644 13 211.89

VBD_pump_during_apogee 256 888 5572.58 nil 0 0 0.00

VBD_pump_during_surface 52 759 981.64 nil 0 0 0.00

VBD_valve 157 173 666.79 nil 0 0 0.00

Iridium_during_init 22 126 70.69 nil 0 0 0.00

Iridium_during_connect 29 160 114.59 nil 0 0 0.00

Iridium_during_xfer 255 223 1390.66 nil 0 0 0.00

Transponder_ping 1 420 15.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 26 9.80

TT8 1158 15 189.51

LPSleep 2052 2 47.50

TT8_Active 467 15 76.52

TT8_Sampling 1253 41 552.46

TT8_CF8 51 64 35.11

TT8_Kalman 0 0 0.00

Analog_circuits 992 10 104.89

GPS_charging 0 0 0.00

Compass 893 8 77.78

RAFOS 0 0 0.00

Transponder 11 30 3.80

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

15 -0.78 -146.6 156 2146 1647 1607 0.0 0.0 0 160 0.00 0.00 -141.80 0.146 16386 0.000 0.000 156 2146 2893 2867 2920 0 0 0 0 0 0 26.38 28.83 26.40

162 -0.78 -146.6 156 2146 2867 2920 3.2 -2.3 26 197 9.85 2.12 -15.43 0.174 18948 0.261 0.089 2735 777 3133 3109 3157 0 0 0 0 0 0 25.80 25.98 25.89

299 -0.78 -146.6 2735 777 3109 3157 17.0 -9.3 52 305 0.00 2.08 0.00 0.000 1030 0.000 0.077 2726 2178 3133 3109 3157 0 0 0 0 0 0 26.24 26.17 26.25

367 -0.78 -146.6 2725 2178 3109 3156 23.0 -9.4 62 368 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2178 3133 3109 3157 0 0 0 0 0 0 26.50 26.51 26.51

487 -0.78 -146.6 2725 2178 3109 3157 34.8 -9.4 74 490 0.00 2.10 0.00 0.000 260 0.000 0.092 2715 3571 3133 3109 3157 0 0 0 0 0 0 26.60 26.32 26.62

555 -0.78 -146.6 2715 3571 3109 3156 41.5 -10.1 80 562 0.00 2.08 0.00 0.000 1030 0.000 0.074 2715 2168 3133 3109 3157 0 0 0 0 0 0 26.44 26.39 26.46

682 -0.78 -146.6 2714 2168 3109 3157 54.8 -10.2 93 686 0.00 2.08 0.00 0.000 516 0.000 0.087 2715 772 3133 3109 3157 0 0 0 0 0 0 26.72 26.45 26.74

838 -0.78 -146.6 2715 772 3109 3156 69.1 -9.1 108 842 0.10 2.05 0.00 0.000 3078 0.191 0.077 2738 2179 3132 3109 3156 0 0 0 0 0 0 26.44 26.53 26.55

963 -0.78 -146.6 2738 2179 3109 3156 79.9 -8.9 120 966 0.00 2.10 0.00 0.000 260 0.000 0.094 2729 3582 3133 3109 3157 0 0 0 0 0 0 26.84 26.54 26.85

1091 -0.78 -146.6 2728 3582 3109 3156 90.2 -8.4 132 1098 0.00 2.08 0.00 0.000 1030 0.000 0.074 2729 2168 3132 3109 3156 0 0 0 0 0 0 26.65 26.62 26.68

1218 -0.78 -146.6 2729 2168 3109 3156 101.3 -9.1 145 1222 0.00 2.08 0.00 0.000 516 0.000 0.087 2729 758 3132 3109 3156 0 0 0 0 0 0 26.91 26.63 26.92

1317 -0.78 -146.6 2729 758 3110 3156 110.0 -9.1 154 1325 0.00 2.10 0.00 0.000 1030 0.000 0.074 2719 2169 3132 3109 3156 0 0 0 0 0 0 26.72 26.67 26.74

1445 -0.78 -146.6 2718 2169 3109 3156 122.4 -9.5 167 1446 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2169 3132 3109 3156 0 0 0 0 0 0 26.96 26.98 26.98

1566 -0.78 -146.6 2718 2169 3110 3156 132.7 -8.6 179 1575 0.00 2.10 0.00 0.000 260 0.000 0.092 2708 3582 3132 3109 3156 0 0 0 0 0 0 26.98 26.69 27.00

1626 -0.78 -146.6 2708 3582 3109 3156 138.6 -10.0 185 1630 0.00 2.03 0.00 0.000 1030 0.000 0.074 2707 2158 3132 3109 3156 0 0 0 0 0 0 26.81 26.73 26.82

1751 -0.78 -146.6 2707 2158 3110 3156 149.7 -7.9 197 1756 0.08 2.03 0.00 0.000 2564 0.206 0.084 2740 765 3132 3109 3156 0 0 0 0 0 0 26.67 26.74 26.74

1810 -0.78 -146.6 2740 765 3110 3156 154.0 -7.6 202 1818 0.00 2.08 0.00 0.000 1030 0.000 0.077 2731 2170 3132 3109 3156 0 0 0 0 0 0 26.79 26.76 26.82

1938 -0.78 -146.6 2730 2169 3110 3156 166.9 -11.2 215 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2170 3133 3110 3156 0 0 0 0 0 0 27.03 27.05 27.05

2058 -0.78 -146.6 2730 2170 3109 3156 176.1 -6.8 227 2061 0.00 2.10 0.00 0.000 516 0.000 0.087 2731 765 3132 3109 3156 0 0 0 0 0 0 27.05 26.77 27.07

2112 end dive: TARGET_DEPTH_EXCEEDED

state 2112 begin apogee

2117 -0.26 0.0 2720 2180 3109 3156 180.1 -7.0 232 2226 0.50 0.00 104.95 0.889 10246 0.156 0.000 2901 2181 2627 2638 2616 0 0 0 0 0 0 26.69 25.20 24.65

2227 end apogee: CONTROL_FINISHED_OK

state 2227 begin climb

2228 0.78 146.6 2901 2181 2638 2616 182.7 0.0 243 2344 0.88 0.00 107.07 0.844 10502 0.124 0.000 3221 2180 2122 2134 2111 0 0 0 0 0 0 25.27 24.79 24.40

2463 0.78 146.6 3221 2180 2134 2111 166.9 10.7 267 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 2180 2122 2134 2111 0 0 0 0 0 0 26.06 26.08 26.08

2583 0.78 146.6 3221 2180 2134 2110 155.7 6.1 279 2584 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 2180 2122 2134 2111 0 0 0 0 0 0 26.32 26.34 26.34

2703 0.78 146.6 3221 2180 2134 2111 146.7 7.2 291 2707 0.00 2.15 0.00 0.000 516 0.000 0.087 3232 769 2122 2134 2111 0 0 0 0 0 0 26.47 26.20 26.49

2819 0.78 146.6 3232 769 2134 2111 137.8 7.8 302 2822 0.00 2.08 0.00 0.000 1030 0.000 0.077 3232 2177 2122 2134 2111 0 0 0 0 0 0 26.39 26.32 26.41

2944 0.78 146.6 3232 2177 2134 2111 126.6 8.7 314 2945 0.00 0.00 0.00 0.000 6 0.000 0.000 3232 2177 2122 2134 2111 0 0 0 0 0 0 26.66 26.68 26.68

3064 0.78 146.6 3231 2177 2133 2111 116.2 8.3 326 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 2177 2122 2133 2111 0 0 0 0 0 0 26.72 26.75 26.74

3185 0.78 146.6 3232 2177 2134 2111 106.2 8.3 338 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 3232 2177 2122 2134 2111 0 0 0 0 0 0 26.79 26.81 26.80

3304 0.78 146.6 3231 2177 2134 2111 96.2 9.0 350 3307 0.00 2.10 0.00 0.000 260 0.000 0.094 3232 3579 2122 2134 2111 0 0 0 0 0 0 26.83 26.54 26.84

3369 0.78 146.6 3231 3579 2134 2111 90.2 9.2 356 3373 0.00 2.03 0.00 0.000 1030 0.000 0.077 3242 2173 2122 2134 2111 0 0 0 0 0 0 26.66 26.58 26.68

3494 0.78 146.6 3242 2173 2134 2111 79.5 7.9 368 3498 0.00 2.10 0.00 0.000 516 0.000 0.089 3247 759 2122 2133 2111 0 0 0 0 0 0 26.89 26.61 26.90

3572 0.78 146.6 3247 759 2134 2111 73.4 7.8 375 3580 0.00 2.10 0.00 0.000 1030 0.000 0.077 3247 2166 2122 2134 2110 0 0 0 0 0 0 26.69 26.65 26.71

3700 0.78 146.6 3247 2167 2134 2111 62.5 8.0 388 3703 0.00 2.10 0.00 0.000 260 0.000 0.094 3247 3574 2122 2134 2111 0 0 0 0 0 0 26.94 26.64 26.95

3815 0.78 146.6 3247 3575 2134 2111 52.4 8.7 399 3819 0.00 2.03 0.00 0.000 1030 0.000 0.077 3256 2163 2122 2134 2111 0 0 0 0 0 0 26.77 26.70 26.79

3940 0.78 146.6 3256 2163 2134 2111 42.5 7.6 411 3941 0.00 0.00 0.00 0.000 6 0.000 0.000 3256 2163 2122 2134 2111 0 0 0 0 0 0 26.98 27.00 27.00

4060 0.78 146.6 3255 2163 2134 2111 33.4 7.7 423 4061 0.00 0.00 0.00 0.000 6 0.000 0.000 3256 2163 2122 2134 2111 0 0 0 0 0 0 27.01 27.03 27.02

4180 0.78 146.6 3256 2163 2133 2111 24.2 7.7 435 4184 0.00 2.10 0.00 0.000 516 0.000 0.089 3264 758 2122 2133 2111 0 0 0 0 0 0 27.02 26.74 27.04

4271 0.80 210.5 3264 758 2134 2111 18.0 5.6 446 4323 0.00 2.05 44.90 0.782 9222 0.000 0.077 3264 2174 1902 1917 1888 0 0 0 0 0 0 26.85 26.77 25.47

4385 0.80 210.5 3263 2173 1917 1887 9.2 7.6 467 4391 0.00 2.15 0.00 0.000 260 0.000 0.094 3264 3569 1902 1917 1888 0 0 0 0 0 0 26.44 26.16 26.46

4452 end climb: SURFACE_DEPTH_REACHED

state 4452 begin surface coast

4482 end surface coast: CONTROL_FINISHED_OK

state 4483 begin surface

ID	38	HD_B	0.0099999998	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	2	HD_C	9.9999997e-06	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0
DIVE	15	HEADING	90	ROLL_MAX	3825	ALTIM_TOP_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2169	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2169	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	110
D_ABORT	300	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	290	R_PORT_OVSHOOT	53	ALTIM_PULSE	2
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	3
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
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	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.4000001
SURFACE_URGENCY	0	N_NOCOMM	2	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	2627	DEVICE1	2
T_DIVE	75	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	100	CALL_TRIES	5	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	540	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	-6	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	3	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	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	3830	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2990	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	0.004402326
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.00064293214
MASS	78054	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.6613103e-05
MASS_COMP	9134.2002	PITCH_GAIN	19	PRESSURE_YINT	-1022.0887	SEABIRD_T_J	3.266618e-06
NAV_MODE	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00093318848	SEABIRD_C_G	-9.6536341
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1178679
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014615374
HD_A	0.003	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00018686533

GPS1	070115,151600,4742.7573,-12226.2852,3,0.9,18,16.3,0.0,0.0,8,9.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4742.778,-12210.212
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.54	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070115,152258,4742.7783,-12226.2617,6,0.9,33,16.3,0.0,0.0,8,9.9	MHEAD_RNG_PITCHd_Wd	73.7,20000,-14.0,-8.000,-18.40,2768
SPEED_LIMITS	0.080,0.240	D_GRID	189

FINISH	0.3,0.999716	_10V_AH	10.57,0.759
SM_CCo	4500,52.95,0.760,0,0,1627,290.20	FG_AHR_24Vo	0.000
SM_GC	2.07,8.15,2.10,52.95,0.084,0.074,0.760,137,2169,1627,-8.86,1.39,290.20,0,0,0,0,0,0,26.29,26.30,25.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,070115,133041	MEM	323044
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	26838,486
HUMID	46.88	CAP_FILE_SIZE	77611,0
INTERNAL_PRESSURE	9.00669	CFSIZE	1024409600,1020510208
TCM_TEMP	17.70	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	1,4303.27,0x2356fe,1,24
ALTIM_BOTTOM_PING	130.3,80.1	GPS	070115,164028,4742.813,-12225.746,36,1.0,37,16.3,0.0,0.0,8,8.4
_24V_AH	24.40,2.052

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	260	124.37	SBE_CT	324	23	184.06
Roll_motor	58	94	134.34	AA4330	644	13	211.89
VBD_pump_during_apogee	256	888	5572.58	nil	0	0	0.00
VBD_pump_during_surface	52	759	981.64	nil	0	0	0.00
VBD_valve	157	173	666.79	nil	0	0	0.00
Iridium_during_init	22	126	70.69	nil	0	0	0.00
Iridium_during_connect	29	160	114.59	nil	0	0	0.00
Iridium_during_xfer	255	223	1390.66	nil	0	0	0.00
Transponder_ping	1	420	15.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	26	9.80
TT8	1158	15	189.51
LPSleep	2052	2	47.50
TT8_Active	467	15	76.52
TT8_Sampling	1253	41	552.46
TT8_CF8	51	64	35.11
TT8_Kalman	0	0	0.00
Analog_circuits	992	10	104.89
GPS_charging	0	0	0.00
Compass	893	8	77.78
RAFOS	0	0	0.00
Transponder	11	30	3.80

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
15	-0.78	-146.6	156	2146	1647	1607	0.0	0.0	0	160	0.00	0.00	-141.80	0.146	16386	0.000	0.000	156	2146	2893	2867	2920	0	0	0	0	0	0	26.38	28.83	26.40
162	-0.78	-146.6	156	2146	2867	2920	3.2	-2.3	26	197	9.85	2.12	-15.43	0.174	18948	0.261	0.089	2735	777	3133	3109	3157	0	0	0	0	0	0	25.80	25.98	25.89
299	-0.78	-146.6	2735	777	3109	3157	17.0	-9.3	52	305	0.00	2.08	0.00	0.000	1030	0.000	0.077	2726	2178	3133	3109	3157	0	0	0	0	0	0	26.24	26.17	26.25
367	-0.78	-146.6	2725	2178	3109	3156	23.0	-9.4	62	368	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2178	3133	3109	3157	0	0	0	0	0	0	26.50	26.51	26.51
487	-0.78	-146.6	2725	2178	3109	3157	34.8	-9.4	74	490	0.00	2.10	0.00	0.000	260	0.000	0.092	2715	3571	3133	3109	3157	0	0	0	0	0	0	26.60	26.32	26.62
555	-0.78	-146.6	2715	3571	3109	3156	41.5	-10.1	80	562	0.00	2.08	0.00	0.000	1030	0.000	0.074	2715	2168	3133	3109	3157	0	0	0	0	0	0	26.44	26.39	26.46
682	-0.78	-146.6	2714	2168	3109	3157	54.8	-10.2	93	686	0.00	2.08	0.00	0.000	516	0.000	0.087	2715	772	3133	3109	3157	0	0	0	0	0	0	26.72	26.45	26.74
838	-0.78	-146.6	2715	772	3109	3156	69.1	-9.1	108	842	0.10	2.05	0.00	0.000	3078	0.191	0.077	2738	2179	3132	3109	3156	0	0	0	0	0	0	26.44	26.53	26.55
963	-0.78	-146.6	2738	2179	3109	3156	79.9	-8.9	120	966	0.00	2.10	0.00	0.000	260	0.000	0.094	2729	3582	3133	3109	3157	0	0	0	0	0	0	26.84	26.54	26.85
1091	-0.78	-146.6	2728	3582	3109	3156	90.2	-8.4	132	1098	0.00	2.08	0.00	0.000	1030	0.000	0.074	2729	2168	3132	3109	3156	0	0	0	0	0	0	26.65	26.62	26.68
1218	-0.78	-146.6	2729	2168	3109	3156	101.3	-9.1	145	1222	0.00	2.08	0.00	0.000	516	0.000	0.087	2729	758	3132	3109	3156	0	0	0	0	0	0	26.91	26.63	26.92
1317	-0.78	-146.6	2729	758	3110	3156	110.0	-9.1	154	1325	0.00	2.10	0.00	0.000	1030	0.000	0.074	2719	2169	3132	3109	3156	0	0	0	0	0	0	26.72	26.67	26.74
1445	-0.78	-146.6	2718	2169	3109	3156	122.4	-9.5	167	1446	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2169	3132	3109	3156	0	0	0	0	0	0	26.96	26.98	26.98
1566	-0.78	-146.6	2718	2169	3110	3156	132.7	-8.6	179	1575	0.00	2.10	0.00	0.000	260	0.000	0.092	2708	3582	3132	3109	3156	0	0	0	0	0	0	26.98	26.69	27.00
1626	-0.78	-146.6	2708	3582	3109	3156	138.6	-10.0	185	1630	0.00	2.03	0.00	0.000	1030	0.000	0.074	2707	2158	3132	3109	3156	0	0	0	0	0	0	26.81	26.73	26.82
1751	-0.78	-146.6	2707	2158	3110	3156	149.7	-7.9	197	1756	0.08	2.03	0.00	0.000	2564	0.206	0.084	2740	765	3132	3109	3156	0	0	0	0	0	0	26.67	26.74	26.74
1810	-0.78	-146.6	2740	765	3110	3156	154.0	-7.6	202	1818	0.00	2.08	0.00	0.000	1030	0.000	0.077	2731	2170	3132	3109	3156	0	0	0	0	0	0	26.79	26.76	26.82
1938	-0.78	-146.6	2730	2169	3110	3156	166.9	-11.2	215	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2170	3133	3110	3156	0	0	0	0	0	0	27.03	27.05	27.05
2058	-0.78	-146.6	2730	2170	3109	3156	176.1	-6.8	227	2061	0.00	2.10	0.00	0.000	516	0.000	0.087	2731	765	3132	3109	3156	0	0	0	0	0	0	27.05	26.77	27.07
2112	end dive: TARGET_DEPTH_EXCEEDED
state	2112	begin apogee
2117	-0.26	0.0	2720	2180	3109	3156	180.1	-7.0	232	2226	0.50	0.00	104.95	0.889	10246	0.156	0.000	2901	2181	2627	2638	2616	0	0	0	0	0	0	26.69	25.20	24.65
2227	end apogee: CONTROL_FINISHED_OK
state	2227	begin climb
2228	0.78	146.6	2901	2181	2638	2616	182.7	0.0	243	2344	0.88	0.00	107.07	0.844	10502	0.124	0.000	3221	2180	2122	2134	2111	0	0	0	0	0	0	25.27	24.79	24.40
2463	0.78	146.6	3221	2180	2134	2111	166.9	10.7	267	2464	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	2180	2122	2134	2111	0	0	0	0	0	0	26.06	26.08	26.08
2583	0.78	146.6	3221	2180	2134	2110	155.7	6.1	279	2584	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	2180	2122	2134	2111	0	0	0	0	0	0	26.32	26.34	26.34
2703	0.78	146.6	3221	2180	2134	2111	146.7	7.2	291	2707	0.00	2.15	0.00	0.000	516	0.000	0.087	3232	769	2122	2134	2111	0	0	0	0	0	0	26.47	26.20	26.49
2819	0.78	146.6	3232	769	2134	2111	137.8	7.8	302	2822	0.00	2.08	0.00	0.000	1030	0.000	0.077	3232	2177	2122	2134	2111	0	0	0	0	0	0	26.39	26.32	26.41
2944	0.78	146.6	3232	2177	2134	2111	126.6	8.7	314	2945	0.00	0.00	0.00	0.000	6	0.000	0.000	3232	2177	2122	2134	2111	0	0	0	0	0	0	26.66	26.68	26.68
3064	0.78	146.6	3231	2177	2133	2111	116.2	8.3	326	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	3231	2177	2122	2133	2111	0	0	0	0	0	0	26.72	26.75	26.74
3185	0.78	146.6	3232	2177	2134	2111	106.2	8.3	338	3186	0.00	0.00	0.00	0.000	6	0.000	0.000	3232	2177	2122	2134	2111	0	0	0	0	0	0	26.79	26.81	26.80
3304	0.78	146.6	3231	2177	2134	2111	96.2	9.0	350	3307	0.00	2.10	0.00	0.000	260	0.000	0.094	3232	3579	2122	2134	2111	0	0	0	0	0	0	26.83	26.54	26.84
3369	0.78	146.6	3231	3579	2134	2111	90.2	9.2	356	3373	0.00	2.03	0.00	0.000	1030	0.000	0.077	3242	2173	2122	2134	2111	0	0	0	0	0	0	26.66	26.58	26.68
3494	0.78	146.6	3242	2173	2134	2111	79.5	7.9	368	3498	0.00	2.10	0.00	0.000	516	0.000	0.089	3247	759	2122	2133	2111	0	0	0	0	0	0	26.89	26.61	26.90
3572	0.78	146.6	3247	759	2134	2111	73.4	7.8	375	3580	0.00	2.10	0.00	0.000	1030	0.000	0.077	3247	2166	2122	2134	2110	0	0	0	0	0	0	26.69	26.65	26.71
3700	0.78	146.6	3247	2167	2134	2111	62.5	8.0	388	3703	0.00	2.10	0.00	0.000	260	0.000	0.094	3247	3574	2122	2134	2111	0	0	0	0	0	0	26.94	26.64	26.95
3815	0.78	146.6	3247	3575	2134	2111	52.4	8.7	399	3819	0.00	2.03	0.00	0.000	1030	0.000	0.077	3256	2163	2122	2134	2111	0	0	0	0	0	0	26.77	26.70	26.79
3940	0.78	146.6	3256	2163	2134	2111	42.5	7.6	411	3941	0.00	0.00	0.00	0.000	6	0.000	0.000	3256	2163	2122	2134	2111	0	0	0	0	0	0	26.98	27.00	27.00
4060	0.78	146.6	3255	2163	2134	2111	33.4	7.7	423	4061	0.00	0.00	0.00	0.000	6	0.000	0.000	3256	2163	2122	2134	2111	0	0	0	0	0	0	27.01	27.03	27.02
4180	0.78	146.6	3256	2163	2133	2111	24.2	7.7	435	4184	0.00	2.10	0.00	0.000	516	0.000	0.089	3264	758	2122	2133	2111	0	0	0	0	0	0	27.02	26.74	27.04
4271	0.80	210.5	3264	758	2134	2111	18.0	5.6	446	4323	0.00	2.05	44.90	0.782	9222	0.000	0.077	3264	2174	1902	1917	1888	0	0	0	0	0	0	26.85	26.77	25.47
4385	0.80	210.5	3263	2173	1917	1887	9.2	7.6	467	4391	0.00	2.15	0.00	0.000	260	0.000	0.094	3264	3569	1902	1917	1888	0	0	0	0	0	0	26.44	26.16	26.46
4452	end climb: SURFACE_DEPTH_REACHED
state	4452	begin surface coast
4482	end surface coast: CONTROL_FINISHED_OK
state	4483	begin surface