Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 16 * 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 16 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 45 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 47 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 -989808.19 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 -989808.19

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 45 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 47 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 16 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 070214,124727,4744.146,-12224.312,12,2.8,32,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.021,-0.212

_SM_DEPTHo 1.17 KALMAN_X -959.9,-267.2,448.7,1086.2,-39.6

_SM_ANGLEo -70.8 KALMAN_Y -317.8,-1111.8,870.8,479.9,-267.6

GPS2 070214,125203,4744.161,-12224.314,11,2.8,31,18.2 MHEAD_RNG_PITCHd_Wd 167.4,2163,-13.8,-6.667,-17.39,3328

SPEED_LIMITS 0.067,0.213 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.022793 _24V_AH 23.3,39.021

SM_CCo 4927,49.08,0.929,0,0,2351,300.22 _10V_AH 10.4,4.938

SM_GC 1.88,7.85,2.17,49.08,0.062,0.055,0.929,242,1765,2351,-8.55,1.36,300.22,0,0,0,0,0,0,25.81,25.94,24.24 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,070214,111108 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.020972 MEM 354616

HUMID 39.25 DATA_FILE_SIZE 30242,528

INTERNAL_PRESSURE 8.46712 CAP_FILE_SIZE 85965,0

TCM_TEMP 17.60 CFSIZE 260165632,242184192

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.5,19.3 GPS 070214,141706,4743.419,-12224.319,29,1.3,29,18.2

ALTIM_BOTTOM_PING 155.1,34.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 250 114.24 SBE_CT 360 56 472.35

Roll_motor 79 72 132.88 AA4330 694 15 254.67

VBD_pump_during_apogee 267 1040 6477.74 nil 0 0 0.00

VBD_pump_during_surface 49 928 1061.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 52 28.69 nil 0 0 0.00

Iridium_during_connect 15 160 56.37 nil 0 0 0.00

Iridium_during_xfer 126 223 656.10 nil 0 0 0.00

Transponder_ping 6 420 66.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 26 9.69

TT8 1260 9 130.71

LPSleep 2204 2 50.20

TT8_Active 478 9 49.63

TT8_Sampling 1206 31 397.58

TT8_CF8 114 39 47.62

TT8_Kalman 33 52 18.20

Analog_circuits 1089 11 124.66

GPS_charging 0 0 0.00

Compass 982 20 206.54

RAFOS 0 0 0.00

Transponder 41 30 13.05

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 14 begin dive

16 -0.57 -146.6 234 1723 2316 2386 0.0 0.0 0 116 0.00 0.00 -97.55 0.000 16386 0.000 0.000 234 1723 3511 3471 3552 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.57 -146.6 234 1723 3472 3552 3.3 -2.1 18 150 10.52 2.25 -14.25 0.000 18948 0.251 0.070 2806 337 3866 3832 3901 0 0 0 0 0 0 24.91 25.42 25.34

270 -0.57 -146.6 2805 337 3832 3901 23.7 -12.1 44 277 0.00 2.15 0.00 0.000 1030 0.000 0.057 2804 1732 3867 3833 3902 0 0 0 0 0 0 28.83 25.61 28.83

398 -0.57 -146.6 2803 1732 3832 3901 37.5 -10.1 57 406 0.00 2.25 0.00 0.000 260 0.000 0.070 2803 3141 3867 3833 3901 0 0 0 0 0 0 28.83 25.60 28.83

498 -0.57 -146.6 2802 3141 3833 3901 46.2 -8.2 67 507 0.00 2.15 0.00 0.000 1030 0.000 0.057 2802 1738 3867 3833 3901 0 0 0 0 0 0 28.83 25.73 28.83

629 -0.57 -146.6 2802 1738 3833 3901 55.6 -6.2 80 637 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3136 3867 3833 3901 0 0 0 0 0 0 28.83 25.70 28.83

731 -0.57 -146.6 2800 3136 3833 3901 62.5 -7.3 90 739 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1734 3867 3833 3901 0 0 0 0 0 0 28.83 25.82 28.83

860 -0.57 -146.6 2800 1734 3833 3901 72.1 -7.4 103 861 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1734 3866 3832 3901 0 0 0 0 0 0 28.83 28.83 28.83

980 -0.57 -146.6 2800 1734 3833 3901 82.3 -8.9 115 988 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3140 3867 3833 3901 0 0 0 0 0 0 28.83 25.79 28.83

1021 -0.57 -146.6 2800 3140 3832 3901 85.6 -7.8 119 1030 0.00 2.15 0.00 0.000 1030 0.000 0.057 2800 1730 3867 3833 3901 0 0 0 0 0 0 28.83 25.88 28.83

1151 -0.57 -146.6 2800 1730 3833 3901 97.5 -10.6 132 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1730 3867 3833 3901 0 0 0 0 0 0 28.83 28.83 28.83

1271 -0.57 -146.6 2800 1730 3833 3901 109.0 -9.4 144 1272 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 1731 3867 3833 3901 0 0 0 0 0 0 28.83 28.83 28.83

1391 -0.57 -146.6 2800 1730 3833 3901 120.9 -10.2 156 1399 0.00 2.22 0.00 0.000 260 0.000 0.070 2800 3140 3867 3833 3901 0 0 0 0 0 0 28.83 25.84 28.83

1452 -0.57 -146.6 2800 3140 3833 3901 126.9 -9.7 162 1460 0.00 2.15 0.00 0.000 1030 0.000 0.057 2801 1723 3867 3833 3901 0 0 0 0 0 0 28.83 25.95 28.83

1582 -0.57 -146.6 2800 1723 3832 3901 138.2 -8.9 175 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1723 3867 3833 3901 0 0 0 0 0 0 28.83 28.83 28.83

1702 -0.57 -146.6 2800 1723 3833 3901 148.0 -7.7 187 1710 0.00 2.17 0.00 0.000 516 0.000 0.072 2800 328 3867 3833 3901 0 0 0 0 0 0 28.83 25.86 28.83

1749 -0.57 -146.6 2800 328 3833 3901 151.9 -8.7 191 1756 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1738 3867 3833 3901 0 0 0 0 0 0 28.83 25.99 28.83

1876 -0.57 -146.6 2800 1738 3833 3901 162.4 -7.9 204 1885 0.00 2.17 0.00 0.000 260 0.000 0.070 2800 3136 3867 3833 3901 0 0 0 0 0 0 28.83 25.89 28.83

1947 -0.57 -146.6 2800 3136 3833 3901 167.5 -7.1 211 1955 0.00 2.12 0.00 0.000 1030 0.000 0.057 2800 1731 3867 3833 3901 0 0 0 0 0 0 28.83 26.00 28.83

2077 -0.57 -146.6 2800 1731 3832 3901 177.3 -6.9 224 2085 0.00 2.20 0.00 0.000 260 0.000 0.070 2800 3130 3867 3833 3901 0 0 0 0 0 0 28.83 25.89 28.83

2106 end dive: TARGET_DEPTH_EXCEEDED

state 2106 begin apogee

2112 -0.21 0.0 2800 1727 3833 3901 180.1 -8.0 227 2220 0.38 0.00 102.75 1.040 10246 0.124 0.000 2929 1727 3367 3340 3395 0 0 0 0 0 0 25.72 28.83 23.70

2221 end apogee: CONTROL_FINISHED_OK

state 2223 begin climb

2224 0.57 146.6 2929 1727 3340 3395 183.7 0.0 238 2337 0.65 0.00 104.30 0.924 10758 0.097 0.000 3158 1727 2871 2845 2897 0 0 0 0 0 0 24.62 28.83 23.25

2458 0.57 160.4 3157 1727 2845 2897 173.7 6.2 262 2478 0.00 2.38 11.30 0.859 8452 0.000 0.070 3158 3129 2823 2796 2851 0 0 0 0 0 0 28.83 24.73 23.60

2513 0.57 160.4 3158 3129 2797 2851 169.6 8.7 267 2520 0.00 2.28 0.00 0.000 1030 0.000 0.057 3168 1702 2824 2797 2851 0 0 0 0 0 0 28.83 24.95 28.83

2640 0.57 160.4 3169 1702 2797 2851 159.4 8.0 280 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 1702 2824 2797 2851 0 0 0 0 0 0 28.83 28.83 28.83

2760 0.57 160.4 3168 1702 2797 2851 150.7 7.3 292 2769 0.00 2.30 0.00 0.000 260 0.000 0.070 3169 3129 2824 2797 2851 0 0 0 0 0 0 28.83 25.37 28.83

2804 0.57 160.4 3168 3129 2797 2851 147.4 8.4 296 2811 0.00 2.20 0.00 0.000 1030 0.000 0.057 3177 1725 2824 2797 2851 0 0 0 0 0 0 28.83 25.48 28.83

2931 0.57 160.4 3177 1725 2797 2851 138.2 6.9 309 2940 0.00 2.28 0.00 0.000 260 0.000 0.067 3177 3134 2824 2797 2851 0 0 0 0 0 0 28.83 25.53 28.83

2975 0.57 160.4 3176 3134 2797 2851 135.5 7.1 313 2982 0.00 2.17 0.00 0.000 1030 0.000 0.057 3187 1725 2824 2797 2851 0 0 0 0 0 0 28.83 25.63 28.83

3103 0.57 166.9 3187 1725 2797 2851 127.0 6.5 326 3115 0.00 2.22 6.18 0.757 8708 0.000 0.072 3197 337 2801 2774 2829 0 0 0 0 0 0 28.83 25.62 24.38

3182 0.57 166.9 3197 337 2773 2830 121.1 6.9 334 3191 0.00 2.12 0.00 0.000 1030 0.000 0.057 3197 1746 2802 2774 2830 0 0 0 0 0 0 28.83 25.70 28.83

3312 0.57 166.9 3197 1746 2774 2830 112.6 7.0 347 3316 0.00 2.17 0.00 0.000 260 0.000 0.070 3197 3113 2801 2773 2829 0 0 0 0 0 0 28.83 25.67 28.83

3366 0.57 169.3 3197 3127 2774 2829 109.3 6.6 352 3373 0.00 2.17 0.00 0.000 1030 0.000 0.057 3208 1724 2801 2773 2830 0 0 0 0 0 0 28.83 25.77 28.83

3494 0.57 192.1 3208 1724 2773 2830 100.9 6.0 365 3517 0.00 2.17 18.60 0.916 8708 0.000 0.072 3218 333 2716 2690 2743 0 0 0 0 0 0 28.83 25.50 24.47

3572 0.57 192.1 3218 333 2689 2743 95.3 7.9 372 3580 0.15 2.12 0.00 0.000 5126 0.164 0.057 3176 1734 2716 2689 2743 0 0 0 0 0 0 25.37 25.61 28.83

3700 0.57 225.1 3176 1734 2689 2743 88.1 5.7 385 3730 0.00 2.30 24.10 0.929 8452 0.000 0.070 3176 3131 2605 2581 2629 0 0 0 0 0 0 28.83 25.28 24.27

3835 0.57 225.1 3176 3131 2581 2628 79.4 7.7 398 3842 0.00 2.22 0.00 0.000 1030 0.000 0.057 3186 1703 2604 2581 2628 0 0 0 0 0 0 28.83 25.49 28.83

3963 0.57 225.1 3186 1703 2581 2628 70.0 7.5 411 3964 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1703 2604 2581 2628 0 0 0 0 0 0 28.83 28.83 28.83

4083 0.57 225.1 3186 1703 2581 2628 61.3 7.3 423 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1703 2604 2581 2628 0 0 0 0 0 0 28.83 28.83 28.83

4203 0.57 226.2 3186 1703 2581 2628 53.4 6.6 435 4212 0.00 2.28 0.00 0.000 260 0.000 0.067 3186 3127 2604 2581 2628 0 0 0 0 0 0 28.83 25.67 28.83

4284 0.57 226.2 3186 3127 2581 2628 47.2 7.7 443 4293 0.00 2.15 0.00 0.000 1030 0.000 0.057 3195 1734 2604 2581 2628 0 0 0 0 0 0 28.83 25.78 28.83

4414 0.57 226.2 3195 1734 2581 2628 37.5 7.0 456 4415 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 1734 2605 2581 2629 0 0 0 0 0 0 28.83 28.83 28.83

4534 0.57 226.2 3195 1734 2581 2629 29.3 6.8 468 4543 0.00 2.22 0.00 0.000 260 0.000 0.067 3195 3127 2604 2581 2628 0 0 0 0 0 0 28.83 25.78 28.83

4615 0.57 226.2 3195 3128 2582 2628 23.4 7.5 476 4624 0.00 2.15 0.00 0.000 1030 0.000 0.057 3203 1730 2604 2581 2628 0 0 0 0 0 0 28.83 25.87 28.83

4746 0.57 226.2 3203 1731 2581 2628 12.9 8.0 497 4752 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 1731 2604 2581 2628 0 0 0 0 0 0 28.83 28.83 28.83

4815 0.57 226.2 3203 1731 2581 2628 7.7 7.3 510 4821 0.00 2.22 0.00 0.000 260 0.000 0.067 3203 3128 2604 2581 2628 0 0 0 0 0 0 28.83 25.82 28.83

4863 end climb: SURFACE_DEPTH_REACHED

state 4863 begin surface coast

4909 end surface coast: CONTROL_FINISHED_OK

state 4909 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	16	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	45	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	47	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	-989808.19	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	070214,124727,4744.146,-12224.312,12,2.8,32,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.021,-0.212
_SM_DEPTHo	1.17	KALMAN_X	-959.9,-267.2,448.7,1086.2,-39.6
_SM_ANGLEo	-70.8	KALMAN_Y	-317.8,-1111.8,870.8,479.9,-267.6
GPS2	070214,125203,4744.161,-12224.314,11,2.8,31,18.2	MHEAD_RNG_PITCHd_Wd	167.4,2163,-13.8,-6.667,-17.39,3328
SPEED_LIMITS	0.067,0.213	D_GRID	180

FINISH	-0.0,1.022793	_24V_AH	23.3,39.021
SM_CCo	4927,49.08,0.929,0,0,2351,300.22	_10V_AH	10.4,4.938
SM_GC	1.88,7.85,2.17,49.08,0.062,0.055,0.929,242,1765,2351,-8.55,1.36,300.22,0,0,0,0,0,0,25.81,25.94,24.24	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,070214,111108	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.020972	MEM	354616
HUMID	39.25	DATA_FILE_SIZE	30242,528
INTERNAL_PRESSURE	8.46712	CAP_FILE_SIZE	85965,0
TCM_TEMP	17.60	CFSIZE	260165632,242184192
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.5,19.3	GPS	070214,141706,4743.419,-12224.319,29,1.3,29,18.2
ALTIM_BOTTOM_PING	155.1,34.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	250	114.24	SBE_CT	360	56	472.35
Roll_motor	79	72	132.88	AA4330	694	15	254.67
VBD_pump_during_apogee	267	1040	6477.74	nil	0	0	0.00
VBD_pump_during_surface	49	928	1061.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	52	28.69	nil	0	0	0.00
Iridium_during_connect	15	160	56.37	nil	0	0	0.00
Iridium_during_xfer	126	223	656.10	nil	0	0	0.00
Transponder_ping	6	420	66.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	26	9.69
TT8	1260	9	130.71
LPSleep	2204	2	50.20
TT8_Active	478	9	49.63
TT8_Sampling	1206	31	397.58
TT8_CF8	114	39	47.62
TT8_Kalman	33	52	18.20
Analog_circuits	1089	11	124.66
GPS_charging	0	0	0.00
Compass	982	20	206.54
RAFOS	0	0	0.00
Transponder	41	30	13.05

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	14	begin dive
16	-0.57	-146.6	234	1723	2316	2386	0.0	0.0	0	116	0.00	0.00	-97.55	0.000	16386	0.000	0.000	234	1723	3511	3471	3552	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.57	-146.6	234	1723	3472	3552	3.3	-2.1	18	150	10.52	2.25	-14.25	0.000	18948	0.251	0.070	2806	337	3866	3832	3901	0	0	0	0	0	0	24.91	25.42	25.34
270	-0.57	-146.6	2805	337	3832	3901	23.7	-12.1	44	277	0.00	2.15	0.00	0.000	1030	0.000	0.057	2804	1732	3867	3833	3902	0	0	0	0	0	0	28.83	25.61	28.83
398	-0.57	-146.6	2803	1732	3832	3901	37.5	-10.1	57	406	0.00	2.25	0.00	0.000	260	0.000	0.070	2803	3141	3867	3833	3901	0	0	0	0	0	0	28.83	25.60	28.83
498	-0.57	-146.6	2802	3141	3833	3901	46.2	-8.2	67	507	0.00	2.15	0.00	0.000	1030	0.000	0.057	2802	1738	3867	3833	3901	0	0	0	0	0	0	28.83	25.73	28.83
629	-0.57	-146.6	2802	1738	3833	3901	55.6	-6.2	80	637	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3136	3867	3833	3901	0	0	0	0	0	0	28.83	25.70	28.83
731	-0.57	-146.6	2800	3136	3833	3901	62.5	-7.3	90	739	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1734	3867	3833	3901	0	0	0	0	0	0	28.83	25.82	28.83
860	-0.57	-146.6	2800	1734	3833	3901	72.1	-7.4	103	861	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1734	3866	3832	3901	0	0	0	0	0	0	28.83	28.83	28.83
980	-0.57	-146.6	2800	1734	3833	3901	82.3	-8.9	115	988	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3140	3867	3833	3901	0	0	0	0	0	0	28.83	25.79	28.83
1021	-0.57	-146.6	2800	3140	3832	3901	85.6	-7.8	119	1030	0.00	2.15	0.00	0.000	1030	0.000	0.057	2800	1730	3867	3833	3901	0	0	0	0	0	0	28.83	25.88	28.83
1151	-0.57	-146.6	2800	1730	3833	3901	97.5	-10.6	132	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1730	3867	3833	3901	0	0	0	0	0	0	28.83	28.83	28.83
1271	-0.57	-146.6	2800	1730	3833	3901	109.0	-9.4	144	1272	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	1731	3867	3833	3901	0	0	0	0	0	0	28.83	28.83	28.83
1391	-0.57	-146.6	2800	1730	3833	3901	120.9	-10.2	156	1399	0.00	2.22	0.00	0.000	260	0.000	0.070	2800	3140	3867	3833	3901	0	0	0	0	0	0	28.83	25.84	28.83
1452	-0.57	-146.6	2800	3140	3833	3901	126.9	-9.7	162	1460	0.00	2.15	0.00	0.000	1030	0.000	0.057	2801	1723	3867	3833	3901	0	0	0	0	0	0	28.83	25.95	28.83
1582	-0.57	-146.6	2800	1723	3832	3901	138.2	-8.9	175	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1723	3867	3833	3901	0	0	0	0	0	0	28.83	28.83	28.83
1702	-0.57	-146.6	2800	1723	3833	3901	148.0	-7.7	187	1710	0.00	2.17	0.00	0.000	516	0.000	0.072	2800	328	3867	3833	3901	0	0	0	0	0	0	28.83	25.86	28.83
1749	-0.57	-146.6	2800	328	3833	3901	151.9	-8.7	191	1756	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1738	3867	3833	3901	0	0	0	0	0	0	28.83	25.99	28.83
1876	-0.57	-146.6	2800	1738	3833	3901	162.4	-7.9	204	1885	0.00	2.17	0.00	0.000	260	0.000	0.070	2800	3136	3867	3833	3901	0	0	0	0	0	0	28.83	25.89	28.83
1947	-0.57	-146.6	2800	3136	3833	3901	167.5	-7.1	211	1955	0.00	2.12	0.00	0.000	1030	0.000	0.057	2800	1731	3867	3833	3901	0	0	0	0	0	0	28.83	26.00	28.83
2077	-0.57	-146.6	2800	1731	3832	3901	177.3	-6.9	224	2085	0.00	2.20	0.00	0.000	260	0.000	0.070	2800	3130	3867	3833	3901	0	0	0	0	0	0	28.83	25.89	28.83
2106	end dive: TARGET_DEPTH_EXCEEDED
state	2106	begin apogee
2112	-0.21	0.0	2800	1727	3833	3901	180.1	-8.0	227	2220	0.38	0.00	102.75	1.040	10246	0.124	0.000	2929	1727	3367	3340	3395	0	0	0	0	0	0	25.72	28.83	23.70
2221	end apogee: CONTROL_FINISHED_OK
state	2223	begin climb
2224	0.57	146.6	2929	1727	3340	3395	183.7	0.0	238	2337	0.65	0.00	104.30	0.924	10758	0.097	0.000	3158	1727	2871	2845	2897	0	0	0	0	0	0	24.62	28.83	23.25
2458	0.57	160.4	3157	1727	2845	2897	173.7	6.2	262	2478	0.00	2.38	11.30	0.859	8452	0.000	0.070	3158	3129	2823	2796	2851	0	0	0	0	0	0	28.83	24.73	23.60
2513	0.57	160.4	3158	3129	2797	2851	169.6	8.7	267	2520	0.00	2.28	0.00	0.000	1030	0.000	0.057	3168	1702	2824	2797	2851	0	0	0	0	0	0	28.83	24.95	28.83
2640	0.57	160.4	3169	1702	2797	2851	159.4	8.0	280	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	1702	2824	2797	2851	0	0	0	0	0	0	28.83	28.83	28.83
2760	0.57	160.4	3168	1702	2797	2851	150.7	7.3	292	2769	0.00	2.30	0.00	0.000	260	0.000	0.070	3169	3129	2824	2797	2851	0	0	0	0	0	0	28.83	25.37	28.83
2804	0.57	160.4	3168	3129	2797	2851	147.4	8.4	296	2811	0.00	2.20	0.00	0.000	1030	0.000	0.057	3177	1725	2824	2797	2851	0	0	0	0	0	0	28.83	25.48	28.83
2931	0.57	160.4	3177	1725	2797	2851	138.2	6.9	309	2940	0.00	2.28	0.00	0.000	260	0.000	0.067	3177	3134	2824	2797	2851	0	0	0	0	0	0	28.83	25.53	28.83
2975	0.57	160.4	3176	3134	2797	2851	135.5	7.1	313	2982	0.00	2.17	0.00	0.000	1030	0.000	0.057	3187	1725	2824	2797	2851	0	0	0	0	0	0	28.83	25.63	28.83
3103	0.57	166.9	3187	1725	2797	2851	127.0	6.5	326	3115	0.00	2.22	6.18	0.757	8708	0.000	0.072	3197	337	2801	2774	2829	0	0	0	0	0	0	28.83	25.62	24.38
3182	0.57	166.9	3197	337	2773	2830	121.1	6.9	334	3191	0.00	2.12	0.00	0.000	1030	0.000	0.057	3197	1746	2802	2774	2830	0	0	0	0	0	0	28.83	25.70	28.83
3312	0.57	166.9	3197	1746	2774	2830	112.6	7.0	347	3316	0.00	2.17	0.00	0.000	260	0.000	0.070	3197	3113	2801	2773	2829	0	0	0	0	0	0	28.83	25.67	28.83
3366	0.57	169.3	3197	3127	2774	2829	109.3	6.6	352	3373	0.00	2.17	0.00	0.000	1030	0.000	0.057	3208	1724	2801	2773	2830	0	0	0	0	0	0	28.83	25.77	28.83
3494	0.57	192.1	3208	1724	2773	2830	100.9	6.0	365	3517	0.00	2.17	18.60	0.916	8708	0.000	0.072	3218	333	2716	2690	2743	0	0	0	0	0	0	28.83	25.50	24.47
3572	0.57	192.1	3218	333	2689	2743	95.3	7.9	372	3580	0.15	2.12	0.00	0.000	5126	0.164	0.057	3176	1734	2716	2689	2743	0	0	0	0	0	0	25.37	25.61	28.83
3700	0.57	225.1	3176	1734	2689	2743	88.1	5.7	385	3730	0.00	2.30	24.10	0.929	8452	0.000	0.070	3176	3131	2605	2581	2629	0	0	0	0	0	0	28.83	25.28	24.27
3835	0.57	225.1	3176	3131	2581	2628	79.4	7.7	398	3842	0.00	2.22	0.00	0.000	1030	0.000	0.057	3186	1703	2604	2581	2628	0	0	0	0	0	0	28.83	25.49	28.83
3963	0.57	225.1	3186	1703	2581	2628	70.0	7.5	411	3964	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1703	2604	2581	2628	0	0	0	0	0	0	28.83	28.83	28.83
4083	0.57	225.1	3186	1703	2581	2628	61.3	7.3	423	4084	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1703	2604	2581	2628	0	0	0	0	0	0	28.83	28.83	28.83
4203	0.57	226.2	3186	1703	2581	2628	53.4	6.6	435	4212	0.00	2.28	0.00	0.000	260	0.000	0.067	3186	3127	2604	2581	2628	0	0	0	0	0	0	28.83	25.67	28.83
4284	0.57	226.2	3186	3127	2581	2628	47.2	7.7	443	4293	0.00	2.15	0.00	0.000	1030	0.000	0.057	3195	1734	2604	2581	2628	0	0	0	0	0	0	28.83	25.78	28.83
4414	0.57	226.2	3195	1734	2581	2628	37.5	7.0	456	4415	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	1734	2605	2581	2629	0	0	0	0	0	0	28.83	28.83	28.83
4534	0.57	226.2	3195	1734	2581	2629	29.3	6.8	468	4543	0.00	2.22	0.00	0.000	260	0.000	0.067	3195	3127	2604	2581	2628	0	0	0	0	0	0	28.83	25.78	28.83
4615	0.57	226.2	3195	3128	2582	2628	23.4	7.5	476	4624	0.00	2.15	0.00	0.000	1030	0.000	0.057	3203	1730	2604	2581	2628	0	0	0	0	0	0	28.83	25.87	28.83
4746	0.57	226.2	3203	1731	2581	2628	12.9	8.0	497	4752	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	1731	2604	2581	2628	0	0	0	0	0	0	28.83	28.83	28.83
4815	0.57	226.2	3203	1731	2581	2628	7.7	7.3	510	4821	0.00	2.22	0.00	0.000	260	0.000	0.067	3203	3128	2604	2581	2628	0	0	0	0	0	0	28.83	25.82	28.83
4863	end climb: SURFACE_DEPTH_REACHED
state	4863	begin surface coast
4909	end surface coast: CONTROL_FINISHED_OK
state	4909	begin surface