Glider dive log

Shilshole 06Jan15 * SG038 * Dive index * Mission links * Dive 8 * 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 8 HEADING -1 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 44 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 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 80 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 2996 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 3 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 80

CAPMAXSIZE 200000 HEADING -1 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 2996 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 44 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 36 VBD_MIN 200

DIVE 8 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 070115,042117,4744.1699,-12224.5967,3,1.0,26,16.3,0.0,0.0,7,6.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.62 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 070115,042708,4744.2056,-12224.6240,4,0.9,22,16.3,0.0,0.0,7,8.8 MHEAD_RNG_PITCHd_Wd 159.7,2238,-13.1,-7.500,-17.71,2947

SPEED_LIMITS 0.075,0.235 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.4,1.013009 _10V_AH 10.56,0.504

SM_CCo 4834,93.55,0.767,0,0,1628,290.20 FG_AHR_24Vo 0.000

SM_GC 2.21,8.00,2.12,93.55,0.087,0.077,0.767,155,2182,1628,-8.81,-0.82,290.20,0,0,0,0,0,0,26.81,26.82,24.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12225.08,070115,030431 MEM 322928

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 30251,527

HUMID 46.53 CAP_FILE_SIZE 74368,0

INTERNAL_PRESSURE 9.00669 CFSIZE 1024409600,1020968960

TCM_TEMP 17.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,4755.88,0x238aa6,7,5

ALTIM_BOTTOM_PING 110.2,6.4 GPS 070115,055052,4744.141,-12224.661,34,0.9,35,16.3,0.0,0.0,7,8.4

_24V_AH 24.41,1.383

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 265 125.49 SBE_CT 354 23 200.76

Roll_motor 33 96 80.31 AA4330 699 13 230.22

VBD_pump_during_apogee 211 886 4570.44 nil 0 0 0.00

VBD_pump_during_surface 93 767 1752.05 nil 0 0 0.00

VBD_valve 151 166 614.82 nil 0 0 0.00

Iridium_during_init 25 126 79.71 nil 0 0 0.00

Iridium_during_connect 18 160 73.86 nil 0 0 0.00

Iridium_during_xfer 211 223 1153.99 nil 0 0 0.00

Transponder_ping 0 420 5.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.67

TT8 1265 15 206.73

LPSleep 2365 2 54.71

TT8_Active 429 15 70.13

TT8_Sampling 1190 41 523.91

TT8_CF8 46 64 31.62

TT8_Kalman 0 0 0.00

Analog_circuits 941 10 99.40

GPS_charging 0 0 0.00

Compass 893 8 77.71

RAFOS 0 0 0.00

Transponder 5 30 1.73

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 -0.73 -146.6 157 2176 1646 1611 0.0 0.0 0 149 0.00 0.00 -131.05 0.146 16386 0.000 0.000 157 2177 2815 2791 2840 0 0 0 0 0 0 26.35 28.83 26.37

151 -0.73 -146.6 157 2177 2791 2840 3.3 -3.9 24 192 10.05 2.25 -20.35 0.166 18948 0.266 0.092 2760 758 3133 3111 3156 0 0 0 0 0 0 25.78 25.95 25.87

499 -0.73 -146.6 2760 757 3111 3155 35.2 -9.0 75 503 0.00 2.10 0.00 0.000 1030 0.000 0.079 2751 2180 3133 3111 3155 0 0 0 0 0 0 26.43 26.35 26.45

624 -0.73 -146.6 2750 2180 3111 3155 45.2 -7.4 87 625 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3111 3155 0 0 0 0 0 0 26.70 26.72 26.72

744 -0.73 -146.6 2750 2181 3111 3155 54.2 -7.1 99 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3156 0 0 0 0 0 0 26.76 26.78 26.78

864 -0.73 -146.6 2750 2180 3111 3155 64.3 -9.0 111 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3112 3155 0 0 0 0 0 0 26.81 26.84 26.82

984 -0.73 -146.6 2750 2181 3111 3155 73.9 -7.2 123 985 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 26.86 26.88 26.87

1104 -0.73 -146.6 2750 2180 3111 3155 84.3 -8.7 135 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3111 3155 0 0 0 0 0 0 26.89 26.91 26.90

1225 -0.73 -146.6 2750 2180 3111 3155 94.2 -8.3 147 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 26.92 26.95 26.94

1344 -0.73 -146.6 2750 2180 3111 3155 102.9 -7.2 159 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 26.96 26.98 26.97

1464 -0.73 -146.6 2750 2180 3111 3154 110.7 -6.8 171 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 26.97 27.00 26.98

1585 -0.73 -146.6 2750 2180 3111 3155 119.5 -7.7 183 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3111 3155 0 0 0 0 0 0 27.00 27.02 27.01

1704 -0.73 -146.6 2750 2180 3111 3155 129.0 -7.8 195 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3111 3155 0 0 0 0 0 0 27.02 27.04 27.03

1824 -0.73 -146.6 2750 2180 3112 3155 138.8 -8.4 207 1825 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 27.04 27.06 27.05

1944 -0.73 -146.6 2750 2180 3111 3155 147.7 -7.1 219 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2180 3133 3111 3155 0 0 0 0 0 0 27.05 27.08 27.07

2064 -0.73 -146.6 2750 2181 3111 3155 156.2 -5.8 231 2065 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2180 3133 3111 3155 0 0 0 0 0 0 27.07 27.09 27.08

2184 -0.73 -146.6 2750 2180 3111 3155 163.9 -6.7 243 2185 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2181 3133 3111 3155 0 0 0 0 0 0 27.08 27.10 27.10

2304 -0.73 -146.6 2750 2181 3111 3154 173.6 -7.6 255 2307 0.00 2.08 0.00 0.000 260 0.000 0.094 2740 3578 3133 3111 3155 0 0 0 0 0 0 27.10 26.79 27.11

2328 end dive: TARGET_DEPTH_EXCEEDED

state 2328 begin apogee

2334 -0.26 0.0 2740 2154 3111 3155 175.7 -7.7 257 2442 0.47 0.00 104.70 0.886 10246 0.151 0.000 2913 2153 2627 2640 2615 0 0 0 0 0 0 26.74 25.21 24.65

2443 end apogee: CONTROL_FINISHED_OK

state 2443 begin climb

2444 0.73 146.6 2912 2153 2640 2615 178.7 0.0 268 2561 0.82 2.20 106.53 0.842 10756 0.124 0.097 3224 777 2122 2134 2110 0 0 0 0 0 0 25.29 24.82 24.41

2623 0.73 146.6 3224 777 2134 2110 168.2 8.2 286 2627 0.00 2.12 0.00 0.000 1030 0.000 0.079 3224 2167 2121 2134 2109 0 0 0 0 0 0 25.70 25.62 25.72

2748 0.73 146.6 3224 2167 2134 2110 157.7 8.8 298 2752 0.00 2.20 0.00 0.000 260 0.000 0.094 3224 3579 2122 2134 2110 0 0 0 0 0 0 26.25 25.96 26.26

2803 0.73 146.6 3224 3579 2134 2110 152.7 9.4 303 2807 0.00 2.10 0.00 0.000 1030 0.000 0.082 3235 2170 2121 2133 2110 0 0 0 0 0 0 26.15 26.07 26.17

2928 0.73 146.6 3235 2169 2134 2110 141.7 8.5 315 2930 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2170 2122 2134 2110 0 0 0 0 0 0 26.50 26.53 26.51

3048 0.73 146.6 3235 2170 2134 2109 131.5 9.3 327 3050 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2170 2122 2134 2110 0 0 0 0 0 0 26.60 26.63 26.63

3168 0.73 146.6 3235 2169 2134 2110 121.4 8.5 339 3172 0.00 2.15 0.00 0.000 516 0.000 0.097 3243 754 2122 2134 2110 0 0 0 0 0 0 26.69 26.40 26.71

3234 0.73 146.6 3243 754 2134 2110 115.7 9.0 345 3238 0.00 2.10 0.00 0.000 1030 0.000 0.079 3243 2178 2122 2134 2110 0 0 0 0 0 0 26.54 26.46 26.55

3359 0.73 146.6 3243 2178 2134 2110 105.7 8.3 357 3360 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 2178 2122 2134 2110 0 0 0 0 0 0 26.78 26.81 26.80

3479 0.73 146.6 3242 2178 2134 2110 96.6 7.7 369 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2178 2122 2134 2110 0 0 0 0 0 0 26.83 26.84 26.84

3600 0.73 146.6 3243 2177 2134 2110 87.5 7.5 381 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2178 2122 2134 2110 0 0 0 0 0 0 26.87 26.89 26.89

3719 0.73 146.6 3243 2178 2133 2110 78.6 8.1 393 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2178 2122 2134 2110 0 0 0 0 0 0 26.91 26.93 26.92

3839 0.73 146.6 3243 2177 2134 2110 69.9 6.6 405 3840 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2177 2122 2134 2110 0 0 0 0 0 0 26.94 26.96 26.95

3959 0.73 146.6 3243 2178 2134 2110 60.7 8.3 417 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 2178 2122 2134 2110 0 0 0 0 0 0 26.96 26.98 26.98

4079 0.73 146.6 3243 2178 2134 2110 51.2 7.7 429 4083 0.00 2.10 0.00 0.000 260 0.000 0.094 3244 3574 2122 2134 2110 0 0 0 0 0 0 26.98 26.70 27.01

4244 0.73 146.6 3243 3574 2132 2110 39.5 7.1 445 4248 0.00 2.05 0.00 0.000 1030 0.000 0.082 3254 2154 2122 2134 2110 0 0 0 0 0 0 26.82 26.74 26.84

4370 0.73 146.6 3253 2153 2134 2110 31.3 7.0 457 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 2153 2122 2134 2110 0 0 0 0 0 0 27.03 27.05 27.05

4489 0.73 146.6 3254 2153 2134 2109 23.5 6.7 469 4493 0.00 2.08 0.00 0.000 516 0.000 0.094 3262 763 2121 2134 2109 0 0 0 0 0 0 27.05 26.77 27.07

4605 0.73 146.6 3262 763 2134 2110 14.6 8.9 486 4612 0.00 2.08 0.00 0.000 1030 0.000 0.079 3262 2176 2122 2134 2110 0 0 0 0 0 0 26.87 26.79 26.89

4673 0.73 146.6 3262 2176 2134 2110 9.7 7.6 499 4679 0.00 0.00 0.00 0.000 6 0.000 0.000 3262 2176 2122 2134 2110 0 0 0 0 0 0 27.07 27.09 27.08

4740 0.73 146.6 3262 2176 2134 2110 4.8 7.1 512 4747 0.00 2.15 0.00 0.000 516 0.000 0.094 3271 759 2122 2134 2110 0 0 0 0 0 0 27.08 26.79 27.09

4772 end climb: SURFACE_DEPTH_REACHED

state 4772 begin surface coast

4818 end surface coast: CONTROL_FINISHED_OK

state 4819 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	8	HEADING	-1	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	44	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	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	80	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	2996	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	070115,042117,4744.1699,-12224.5967,3,1.0,26,16.3,0.0,0.0,7,6.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.62	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	070115,042708,4744.2056,-12224.6240,4,0.9,22,16.3,0.0,0.0,7,8.8	MHEAD_RNG_PITCHd_Wd	159.7,2238,-13.1,-7.500,-17.71,2947
SPEED_LIMITS	0.075,0.235	D_GRID	175

FINISH	0.4,1.013009	_10V_AH	10.56,0.504
SM_CCo	4834,93.55,0.767,0,0,1628,290.20	FG_AHR_24Vo	0.000
SM_GC	2.21,8.00,2.12,93.55,0.087,0.077,0.767,155,2182,1628,-8.81,-0.82,290.20,0,0,0,0,0,0,26.81,26.82,24.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12225.08,070115,030431	MEM	322928
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	30251,527
HUMID	46.53	CAP_FILE_SIZE	74368,0
INTERNAL_PRESSURE	9.00669	CFSIZE	1024409600,1020968960
TCM_TEMP	17.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,4755.88,0x238aa6,7,5
ALTIM_BOTTOM_PING	110.2,6.4	GPS	070115,055052,4744.141,-12224.661,34,0.9,35,16.3,0.0,0.0,7,8.4
_24V_AH	24.41,1.383

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	265	125.49	SBE_CT	354	23	200.76
Roll_motor	33	96	80.31	AA4330	699	13	230.22
VBD_pump_during_apogee	211	886	4570.44	nil	0	0	0.00
VBD_pump_during_surface	93	767	1752.05	nil	0	0	0.00
VBD_valve	151	166	614.82	nil	0	0	0.00
Iridium_during_init	25	126	79.71	nil	0	0	0.00
Iridium_during_connect	18	160	73.86	nil	0	0	0.00
Iridium_during_xfer	211	223	1153.99	nil	0	0	0.00
Transponder_ping	0	420	5.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.67
TT8	1265	15	206.73
LPSleep	2365	2	54.71
TT8_Active	429	15	70.13
TT8_Sampling	1190	41	523.91
TT8_CF8	46	64	31.62
TT8_Kalman	0	0	0.00
Analog_circuits	941	10	99.40
GPS_charging	0	0	0.00
Compass	893	8	77.71
RAFOS	0	0	0.00
Transponder	5	30	1.73

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	-0.73	-146.6	157	2176	1646	1611	0.0	0.0	0	149	0.00	0.00	-131.05	0.146	16386	0.000	0.000	157	2177	2815	2791	2840	0	0	0	0	0	0	26.35	28.83	26.37
151	-0.73	-146.6	157	2177	2791	2840	3.3	-3.9	24	192	10.05	2.25	-20.35	0.166	18948	0.266	0.092	2760	758	3133	3111	3156	0	0	0	0	0	0	25.78	25.95	25.87
499	-0.73	-146.6	2760	757	3111	3155	35.2	-9.0	75	503	0.00	2.10	0.00	0.000	1030	0.000	0.079	2751	2180	3133	3111	3155	0	0	0	0	0	0	26.43	26.35	26.45
624	-0.73	-146.6	2750	2180	3111	3155	45.2	-7.4	87	625	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3111	3155	0	0	0	0	0	0	26.70	26.72	26.72
744	-0.73	-146.6	2750	2181	3111	3155	54.2	-7.1	99	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3156	0	0	0	0	0	0	26.76	26.78	26.78
864	-0.73	-146.6	2750	2180	3111	3155	64.3	-9.0	111	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3112	3155	0	0	0	0	0	0	26.81	26.84	26.82
984	-0.73	-146.6	2750	2181	3111	3155	73.9	-7.2	123	985	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	26.86	26.88	26.87
1104	-0.73	-146.6	2750	2180	3111	3155	84.3	-8.7	135	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3111	3155	0	0	0	0	0	0	26.89	26.91	26.90
1225	-0.73	-146.6	2750	2180	3111	3155	94.2	-8.3	147	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	26.92	26.95	26.94
1344	-0.73	-146.6	2750	2180	3111	3155	102.9	-7.2	159	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	26.96	26.98	26.97
1464	-0.73	-146.6	2750	2180	3111	3154	110.7	-6.8	171	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	26.97	27.00	26.98
1585	-0.73	-146.6	2750	2180	3111	3155	119.5	-7.7	183	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3111	3155	0	0	0	0	0	0	27.00	27.02	27.01
1704	-0.73	-146.6	2750	2180	3111	3155	129.0	-7.8	195	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3111	3155	0	0	0	0	0	0	27.02	27.04	27.03
1824	-0.73	-146.6	2750	2180	3112	3155	138.8	-8.4	207	1825	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	27.04	27.06	27.05
1944	-0.73	-146.6	2750	2180	3111	3155	147.7	-7.1	219	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2180	3133	3111	3155	0	0	0	0	0	0	27.05	27.08	27.07
2064	-0.73	-146.6	2750	2181	3111	3155	156.2	-5.8	231	2065	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2180	3133	3111	3155	0	0	0	0	0	0	27.07	27.09	27.08
2184	-0.73	-146.6	2750	2180	3111	3155	163.9	-6.7	243	2185	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2181	3133	3111	3155	0	0	0	0	0	0	27.08	27.10	27.10
2304	-0.73	-146.6	2750	2181	3111	3154	173.6	-7.6	255	2307	0.00	2.08	0.00	0.000	260	0.000	0.094	2740	3578	3133	3111	3155	0	0	0	0	0	0	27.10	26.79	27.11
2328	end dive: TARGET_DEPTH_EXCEEDED
state	2328	begin apogee
2334	-0.26	0.0	2740	2154	3111	3155	175.7	-7.7	257	2442	0.47	0.00	104.70	0.886	10246	0.151	0.000	2913	2153	2627	2640	2615	0	0	0	0	0	0	26.74	25.21	24.65
2443	end apogee: CONTROL_FINISHED_OK
state	2443	begin climb
2444	0.73	146.6	2912	2153	2640	2615	178.7	0.0	268	2561	0.82	2.20	106.53	0.842	10756	0.124	0.097	3224	777	2122	2134	2110	0	0	0	0	0	0	25.29	24.82	24.41
2623	0.73	146.6	3224	777	2134	2110	168.2	8.2	286	2627	0.00	2.12	0.00	0.000	1030	0.000	0.079	3224	2167	2121	2134	2109	0	0	0	0	0	0	25.70	25.62	25.72
2748	0.73	146.6	3224	2167	2134	2110	157.7	8.8	298	2752	0.00	2.20	0.00	0.000	260	0.000	0.094	3224	3579	2122	2134	2110	0	0	0	0	0	0	26.25	25.96	26.26
2803	0.73	146.6	3224	3579	2134	2110	152.7	9.4	303	2807	0.00	2.10	0.00	0.000	1030	0.000	0.082	3235	2170	2121	2133	2110	0	0	0	0	0	0	26.15	26.07	26.17
2928	0.73	146.6	3235	2169	2134	2110	141.7	8.5	315	2930	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2170	2122	2134	2110	0	0	0	0	0	0	26.50	26.53	26.51
3048	0.73	146.6	3235	2170	2134	2109	131.5	9.3	327	3050	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2170	2122	2134	2110	0	0	0	0	0	0	26.60	26.63	26.63
3168	0.73	146.6	3235	2169	2134	2110	121.4	8.5	339	3172	0.00	2.15	0.00	0.000	516	0.000	0.097	3243	754	2122	2134	2110	0	0	0	0	0	0	26.69	26.40	26.71
3234	0.73	146.6	3243	754	2134	2110	115.7	9.0	345	3238	0.00	2.10	0.00	0.000	1030	0.000	0.079	3243	2178	2122	2134	2110	0	0	0	0	0	0	26.54	26.46	26.55
3359	0.73	146.6	3243	2178	2134	2110	105.7	8.3	357	3360	0.00	0.00	0.00	0.000	6	0.000	0.000	3244	2178	2122	2134	2110	0	0	0	0	0	0	26.78	26.81	26.80
3479	0.73	146.6	3242	2178	2134	2110	96.6	7.7	369	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2178	2122	2134	2110	0	0	0	0	0	0	26.83	26.84	26.84
3600	0.73	146.6	3243	2177	2134	2110	87.5	7.5	381	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2178	2122	2134	2110	0	0	0	0	0	0	26.87	26.89	26.89
3719	0.73	146.6	3243	2178	2133	2110	78.6	8.1	393	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2178	2122	2134	2110	0	0	0	0	0	0	26.91	26.93	26.92
3839	0.73	146.6	3243	2177	2134	2110	69.9	6.6	405	3840	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2177	2122	2134	2110	0	0	0	0	0	0	26.94	26.96	26.95
3959	0.73	146.6	3243	2178	2134	2110	60.7	8.3	417	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	3244	2178	2122	2134	2110	0	0	0	0	0	0	26.96	26.98	26.98
4079	0.73	146.6	3243	2178	2134	2110	51.2	7.7	429	4083	0.00	2.10	0.00	0.000	260	0.000	0.094	3244	3574	2122	2134	2110	0	0	0	0	0	0	26.98	26.70	27.01
4244	0.73	146.6	3243	3574	2132	2110	39.5	7.1	445	4248	0.00	2.05	0.00	0.000	1030	0.000	0.082	3254	2154	2122	2134	2110	0	0	0	0	0	0	26.82	26.74	26.84
4370	0.73	146.6	3253	2153	2134	2110	31.3	7.0	457	4371	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	2153	2122	2134	2110	0	0	0	0	0	0	27.03	27.05	27.05
4489	0.73	146.6	3254	2153	2134	2109	23.5	6.7	469	4493	0.00	2.08	0.00	0.000	516	0.000	0.094	3262	763	2121	2134	2109	0	0	0	0	0	0	27.05	26.77	27.07
4605	0.73	146.6	3262	763	2134	2110	14.6	8.9	486	4612	0.00	2.08	0.00	0.000	1030	0.000	0.079	3262	2176	2122	2134	2110	0	0	0	0	0	0	26.87	26.79	26.89
4673	0.73	146.6	3262	2176	2134	2110	9.7	7.6	499	4679	0.00	0.00	0.00	0.000	6	0.000	0.000	3262	2176	2122	2134	2110	0	0	0	0	0	0	27.07	27.09	27.08
4740	0.73	146.6	3262	2176	2134	2110	4.8	7.1	512	4747	0.00	2.15	0.00	0.000	516	0.000	0.094	3271	759	2122	2134	2110	0	0	0	0	0	0	27.08	26.79	27.09
4772	end climb: SURFACE_DEPTH_REACHED
state	4772	begin surface coast
4818	end surface coast: CONTROL_FINISHED_OK
state	4819	begin surface