Glider dive log

Shilshole 13Nov14.01 * SG035 * Dive index * Mission links * Dive 9 * 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 9 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 64 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 90 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 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 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 2435 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 26.663748 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 26.663748 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 90

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 3

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 540

C_PITCH 2435 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 64 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 37 VBD_MIN 275

DIVE 9 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 141114,041252,4742.8701,-12224.6602,13,1.9,40,18.2,0.3,0.0,7,9.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 2 TGT_RADIUS 750.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.039,0.214

_SM_DEPTHo 1.39 KALMAN_X 28.2,139.9,42.7,-572.9,-90.7

_SM_ANGLEo -62.7 KALMAN_Y 957.8,197.7,112.9,-1597.3,-102.0

GPS2 141114,042404,4742.8052,-12224.7744,11,1.9,32,18.2,0.0,0.0,8,7.6 MHEAD_RNG_PITCHd_Wd 352.0,3157,-14.6,-7.059,-17.99,3147

SPEED_LIMITS 0.071,0.217 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.8,1.021593 _10V_AH 10.44,0.498

SM_CCo 4924,150.00,0.991,0,0,895,350.05 FG_AHR_24Vo 0.000

SM_GC 1.59,6.40,2.12,150.00,0.082,0.047,0.991,232,2319,895,-6.80,1.55,350.05,0,0,0,0,0,0,26.39,26.41,24.05 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12226.80,141114,024602 MEM 322968

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 30203,525

HUMID 65.04 CAP_FILE_SIZE 98603,0

INTERNAL_PRESSURE 8.21321 CFSIZE 1024409600,1016053760

TCM_TEMP 19.40 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 INTR 1,2682.93,0x2389de,2,5

ALTIM_BOTTOM_PING 125.7,70.8 GPS 141114,055041,4743.307,-12224.767,9,1.6,25,18.2,0.2,296.3,7,6.3

_24V_AH 23.87,2.213

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 240 86.96 SBE_CT 357 56 479.98

Roll_motor 85 69 141.48 AA4330 692 15 260.04

VBD_pump_during_apogee 210 1112 5580.69 nil 0 0 0.00

VBD_pump_during_surface 150 990 3547.26 nil 0 0 0.00

VBD_valve 111 101 271.44 nil 0 0 0.00

Iridium_during_init 27 52 34.05 nil 0 0 0.00

Iridium_during_connect 15 160 58.48 nil 0 0 0.00

Iridium_during_xfer 500 223 2663.03 nil 0 0 0.00

Transponder_ping 4 420 40.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 26 9.89

TT8 1308 9 136.15

LPSleep 2248 2 51.41

TT8_Active 524 9 54.60

TT8_Sampling 1582 31 523.61

TT8_CF8 84 39 35.34

TT8_Kalman 33 52 18.30

Analog_circuits 1104 11 126.86

GPS_charging 0 0 0.00

Compass 989 20 208.81

RAFOS 0 0 0.00

Transponder 13 30 4.21

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -0.55 -146.6 212 2309 982 811 0.0 0.0 0 113 0.00 0.00 -93.80 0.094 16386 0.000 0.000 212 2309 2212 2205 2220 0 0 0 0 0 0 26.07 28.83 26.08

115 -0.55 -146.6 212 2309 2205 2220 3.0 -1.6 17 150 7.68 2.28 -17.90 0.102 18692 0.241 0.065 2253 3739 2605 2595 2615 0 0 0 0 0 0 25.58 25.77 25.73

272 -0.55 -146.6 2253 3739 2594 2605 17.5 -8.9 47 278 0.00 2.12 0.00 0.000 1030 0.000 0.050 2253 2334 2599 2595 2603 0 0 0 0 0 0 25.99 25.94 26.00

340 -0.55 -146.6 2253 2334 2599 2597 23.4 -8.3 56 344 0.00 2.10 0.00 0.000 516 0.000 0.057 2253 911 2598 2600 2597 0 0 0 0 0 0 26.22 25.98 26.23

419 -0.55 -146.6 2253 911 2607 2591 28.9 -7.7 63 426 0.00 2.17 0.00 0.000 1030 0.000 0.055 2253 2328 2599 2607 2591 0 0 0 0 0 0 26.05 26.01 26.07

546 -0.55 -146.6 2253 2328 2607 2591 39.5 -8.8 76 550 0.00 2.17 0.00 0.000 260 0.000 0.065 2250 3743 2598 2606 2591 0 0 0 0 0 0 26.34 26.08 26.36

652 -0.55 -146.6 2250 3743 2606 2591 48.6 -8.5 86 656 0.00 2.10 0.00 0.000 1030 0.000 0.050 2250 2324 2598 2605 2591 0 0 0 0 0 0 26.21 26.16 26.22

777 -0.55 -146.6 2250 2324 2606 2590 57.7 -6.4 98 781 0.00 2.05 0.00 0.000 516 0.000 0.057 2249 924 2598 2606 2590 0 0 0 0 0 0 26.44 26.19 26.44

885 -0.55 -146.6 2250 923 2609 2586 64.2 -6.3 108 893 0.00 2.15 0.00 0.000 1030 0.000 0.055 2250 2340 2597 2609 2586 0 0 0 0 0 0 26.25 26.21 26.27

1012 -0.55 -146.6 2249 2340 2608 2585 73.2 -8.0 121 1016 0.00 2.15 0.00 0.000 260 0.000 0.065 2250 3746 2597 2608 2586 0 0 0 0 0 0 26.50 26.24 26.51

1051 -0.55 -146.6 2249 3746 2608 2586 76.3 -8.5 124 1058 0.00 2.15 0.00 0.000 1030 0.000 0.050 2250 2324 2597 2608 2586 0 0 0 0 0 0 26.30 26.28 26.32

1178 -0.55 -146.6 2249 2324 2608 2586 85.8 -6.6 137 1182 0.00 2.05 0.00 0.000 516 0.000 0.057 2250 939 2597 2608 2586 0 0 0 0 0 0 26.53 26.29 26.54

1292 -0.55 -146.6 2249 921 2609 2585 93.7 -7.8 148 1299 0.00 2.15 0.00 0.000 1030 0.000 0.055 2250 2340 2597 2609 2585 0 0 0 0 0 0 26.33 26.29 26.35

1419 -0.55 -146.6 2249 2339 2609 2585 102.3 -6.1 161 1423 0.00 2.15 0.00 0.000 260 0.000 0.065 2250 3750 2596 2608 2585 0 0 0 0 0 0 26.56 26.32 26.58

1505 -0.55 -146.6 2250 3750 2609 2586 109.0 -7.9 169 1509 0.00 2.10 0.00 0.000 1030 0.000 0.050 2250 2317 2596 2608 2585 0 0 0 0 0 0 26.41 26.36 26.42

1630 -0.55 -146.6 2250 2317 2608 2585 118.4 -7.6 181 1633 0.00 2.05 0.00 0.000 516 0.000 0.057 2250 922 2596 2608 2585 0 0 0 0 0 0 26.60 26.36 26.62

1679 -0.55 -146.6 2249 922 2608 2585 122.1 -8.0 185 1686 0.00 2.12 0.00 0.000 1030 0.000 0.055 2249 2331 2597 2609 2585 0 0 0 0 0 0 26.39 26.36 26.41

1806 -0.55 -146.6 2249 2331 2608 2585 131.0 -6.5 198 1810 0.00 2.15 0.00 0.000 260 0.000 0.065 2250 3746 2596 2608 2585 0 0 0 0 0 0 26.63 26.37 26.64

1884 -0.55 -146.6 2249 3746 2608 2586 135.8 -6.0 205 1892 0.00 2.12 0.00 0.000 1030 0.000 0.050 2250 2332 2596 2608 2585 0 0 0 0 0 0 26.44 26.40 26.44

2012 -0.55 -146.6 2249 2332 2608 2585 142.9 -5.3 218 2013 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2332 2596 2608 2585 0 0 0 0 0 0 26.65 26.67 26.66

2132 -0.55 -146.6 2249 2332 2608 2585 148.8 -4.9 230 2141 0.00 2.17 0.00 0.000 260 0.000 0.065 2249 3747 2597 2608 2586 0 0 0 0 0 0 26.67 26.40 26.67

2162 -0.55 -146.6 2249 3747 2608 2585 150.6 -5.5 233 2166 0.00 2.08 0.00 0.000 1030 0.000 0.050 2250 2326 2596 2608 2585 0 0 0 0 0 0 26.48 26.44 26.50

2287 -0.55 -146.6 2249 2326 2608 2585 158.1 -6.3 245 2291 0.00 2.05 0.00 0.000 516 0.000 0.057 2250 930 2596 2608 2585 0 0 0 0 0 0 26.68 26.44 26.69

2388 -0.55 -146.6 2249 913 2608 2585 164.2 -6.2 255 2392 0.00 2.10 0.00 0.000 1030 0.000 0.055 2249 2346 2596 2608 2585 0 0 0 0 0 0 26.49 26.43 26.51

2513 -0.55 -146.6 2249 2346 2608 2585 171.6 -5.9 267 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2346 2596 2608 2585 0 0 0 0 0 0 26.70 26.71 26.71

2633 -0.55 -146.6 2249 2346 2608 2585 177.9 -5.1 279 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2347 2596 2608 2585 0 0 0 0 0 0 26.70 26.72 26.72

2682 end dive: TARGET_DEPTH_EXCEEDED

state 2682 begin apogee

2685 -0.19 0.0 2249 2346 2608 2585 180.5 -5.3 284 2794 0.35 0.00 101.88 1.112 10246 0.122 0.000 2377 2347 2099 2150 2049 0 0 0 0 0 0 26.39 24.65 24.05

2795 end apogee: CONTROL_FINISHED_OK

state 2795 begin climb

2796 0.55 146.6 2377 2347 2150 2049 181.8 0.0 295 2914 0.57 2.30 108.30 1.088 10500 0.087 0.070 2596 3736 1595 1689 1501 0 0 0 0 0 0 24.84 24.48 23.87

2959 0.55 146.6 2596 3736 1689 1503 170.9 9.7 311 2966 0.00 2.20 0.00 0.000 1030 0.000 0.047 2606 2344 1596 1689 1503 0 0 0 0 0 0 25.19 25.17 25.20

3086 0.55 146.6 2606 2344 1689 1503 159.0 9.0 324 3090 0.00 2.15 0.00 0.000 516 0.000 0.057 2617 918 1596 1689 1503 0 0 0 0 0 0 25.82 25.58 25.83

3146 0.55 146.6 2617 918 1689 1503 153.2 10.0 329 3153 0.00 2.15 0.00 0.000 1030 0.000 0.055 2617 2336 1596 1689 1503 0 0 0 0 0 0 25.75 25.70 25.77

3272 0.55 146.6 2616 2337 1689 1503 141.1 9.2 342 3276 0.00 2.20 0.00 0.000 260 0.000 0.065 2617 3747 1596 1689 1503 0 0 0 0 0 0 26.10 25.84 26.10

3398 0.55 146.6 2617 3747 1689 1505 127.9 9.9 354 3407 0.00 2.12 0.00 0.000 1030 0.000 0.050 2627 2319 1597 1689 1505 0 0 0 0 0 0 26.03 25.98 26.05

3528 0.55 146.6 2627 2319 1689 1505 116.6 8.8 367 3529 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2319 1597 1689 1505 0 0 0 0 0 0 26.29 26.31 26.30

3648 0.55 146.6 2627 2319 1689 1505 105.8 8.6 379 3649 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2319 1597 1689 1505 0 0 0 0 0 0 26.36 26.37 26.36

3768 0.55 146.6 2627 2319 1689 1505 95.6 8.2 391 3772 0.00 2.25 0.00 0.000 260 0.000 0.067 2627 3741 1597 1689 1505 0 0 0 0 0 0 26.41 26.15 26.42

3812 0.55 146.6 2627 3752 1689 1505 91.3 10.5 395 3819 0.00 2.15 0.00 0.000 1030 0.000 0.050 2637 2329 1597 1689 1505 0 0 0 0 0 0 26.22 26.19 26.23

3939 0.55 146.6 2637 2329 1689 1505 79.6 9.1 408 3942 0.00 2.05 0.00 0.000 516 0.000 0.057 2648 928 1597 1689 1505 0 0 0 0 0 0 26.46 26.22 26.47

3974 0.55 146.6 2648 927 1689 1505 76.5 8.6 411 3979 0.12 2.10 0.00 0.000 5126 0.164 0.055 2605 2340 1597 1689 1505 0 0 0 0 0 0 26.13 26.22 26.23

4099 0.55 146.6 2605 2340 1689 1505 67.3 7.7 423 4103 0.00 2.10 0.00 0.000 516 0.000 0.057 2615 924 1597 1689 1505 0 0 0 0 0 0 26.51 26.26 26.52

4135 0.55 146.6 2615 924 1689 1506 64.5 7.8 426 4139 0.00 2.10 0.00 0.000 1030 0.000 0.055 2615 2343 1597 1689 1505 0 0 0 0 0 0 26.33 26.27 26.34

4260 0.55 146.6 2615 2343 1689 1505 54.3 8.0 438 4264 0.00 2.12 0.00 0.000 260 0.000 0.065 2615 3738 1597 1689 1505 0 0 0 0 0 0 26.54 26.28 26.55

4366 0.55 146.6 2615 3738 1689 1506 44.9 8.5 448 4370 0.00 2.08 0.00 0.000 1030 0.000 0.050 2626 2318 1597 1689 1505 0 0 0 0 0 0 26.39 26.34 26.40

4491 0.55 146.6 2626 2318 1689 1506 34.6 8.0 460 4495 0.00 2.03 0.00 0.000 516 0.000 0.057 2636 947 1597 1689 1505 0 0 0 0 0 0 26.58 26.34 26.60

4534 0.55 146.6 2636 931 1689 1505 31.2 8.2 464 4542 0.00 2.12 0.00 0.000 1030 0.000 0.052 2637 2338 1597 1689 1506 0 0 0 0 0 0 26.38 26.34 26.39

4661 0.55 146.6 2636 2338 1689 1505 19.9 9.4 477 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2338 1597 1689 1505 0 0 0 0 0 0 26.61 26.63 26.62

4729 0.55 146.6 2636 2338 1689 1505 14.0 8.3 490 4735 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2338 1597 1689 1505 0 0 0 0 0 0 26.62 26.63 26.63

4796 0.55 146.6 2636 2338 1689 1505 8.5 7.9 503 4802 0.00 2.15 0.00 0.000 260 0.000 0.065 2637 3740 1597 1689 1506 0 0 0 0 0 0 26.63 26.36 26.64

4883 end climb: SURFACE_DEPTH_REACHED

state 4883 begin surface coast

4909 end surface coast: CONTROL_FINISHED_OK

state 4909 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	9	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	64	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	90	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	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	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	2435	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	26.663748	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	141114,041252,4742.8701,-12224.6602,13,1.9,40,18.2,0.3,0.0,7,9.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	2	TGT_RADIUS	750.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.039,0.214
_SM_DEPTHo	1.39	KALMAN_X	28.2,139.9,42.7,-572.9,-90.7
_SM_ANGLEo	-62.7	KALMAN_Y	957.8,197.7,112.9,-1597.3,-102.0
GPS2	141114,042404,4742.8052,-12224.7744,11,1.9,32,18.2,0.0,0.0,8,7.6	MHEAD_RNG_PITCHd_Wd	352.0,3157,-14.6,-7.059,-17.99,3147
SPEED_LIMITS	0.071,0.217	D_GRID	180

FINISH	0.8,1.021593	_10V_AH	10.44,0.498
SM_CCo	4924,150.00,0.991,0,0,895,350.05	FG_AHR_24Vo	0.000
SM_GC	1.59,6.40,2.12,150.00,0.082,0.047,0.991,232,2319,895,-6.80,1.55,350.05,0,0,0,0,0,0,26.39,26.41,24.05	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12226.80,141114,024602	MEM	322968
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	30203,525
HUMID	65.04	CAP_FILE_SIZE	98603,0
INTERNAL_PRESSURE	8.21321	CFSIZE	1024409600,1016053760
TCM_TEMP	19.40	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	INTR	1,2682.93,0x2389de,2,5
ALTIM_BOTTOM_PING	125.7,70.8	GPS	141114,055041,4743.307,-12224.767,9,1.6,25,18.2,0.2,296.3,7,6.3
_24V_AH	23.87,2.213

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	240	86.96	SBE_CT	357	56	479.98
Roll_motor	85	69	141.48	AA4330	692	15	260.04
VBD_pump_during_apogee	210	1112	5580.69	nil	0	0	0.00
VBD_pump_during_surface	150	990	3547.26	nil	0	0	0.00
VBD_valve	111	101	271.44	nil	0	0	0.00
Iridium_during_init	27	52	34.05	nil	0	0	0.00
Iridium_during_connect	15	160	58.48	nil	0	0	0.00
Iridium_during_xfer	500	223	2663.03	nil	0	0	0.00
Transponder_ping	4	420	40.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	26	9.89
TT8	1308	9	136.15
LPSleep	2248	2	51.41
TT8_Active	524	9	54.60
TT8_Sampling	1582	31	523.61
TT8_CF8	84	39	35.34
TT8_Kalman	33	52	18.30
Analog_circuits	1104	11	126.86
GPS_charging	0	0	0.00
Compass	989	20	208.81
RAFOS	0	0	0.00
Transponder	13	30	4.21

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-0.55	-146.6	212	2309	982	811	0.0	0.0	0	113	0.00	0.00	-93.80	0.094	16386	0.000	0.000	212	2309	2212	2205	2220	0	0	0	0	0	0	26.07	28.83	26.08
115	-0.55	-146.6	212	2309	2205	2220	3.0	-1.6	17	150	7.68	2.28	-17.90	0.102	18692	0.241	0.065	2253	3739	2605	2595	2615	0	0	0	0	0	0	25.58	25.77	25.73
272	-0.55	-146.6	2253	3739	2594	2605	17.5	-8.9	47	278	0.00	2.12	0.00	0.000	1030	0.000	0.050	2253	2334	2599	2595	2603	0	0	0	0	0	0	25.99	25.94	26.00
340	-0.55	-146.6	2253	2334	2599	2597	23.4	-8.3	56	344	0.00	2.10	0.00	0.000	516	0.000	0.057	2253	911	2598	2600	2597	0	0	0	0	0	0	26.22	25.98	26.23
419	-0.55	-146.6	2253	911	2607	2591	28.9	-7.7	63	426	0.00	2.17	0.00	0.000	1030	0.000	0.055	2253	2328	2599	2607	2591	0	0	0	0	0	0	26.05	26.01	26.07
546	-0.55	-146.6	2253	2328	2607	2591	39.5	-8.8	76	550	0.00	2.17	0.00	0.000	260	0.000	0.065	2250	3743	2598	2606	2591	0	0	0	0	0	0	26.34	26.08	26.36
652	-0.55	-146.6	2250	3743	2606	2591	48.6	-8.5	86	656	0.00	2.10	0.00	0.000	1030	0.000	0.050	2250	2324	2598	2605	2591	0	0	0	0	0	0	26.21	26.16	26.22
777	-0.55	-146.6	2250	2324	2606	2590	57.7	-6.4	98	781	0.00	2.05	0.00	0.000	516	0.000	0.057	2249	924	2598	2606	2590	0	0	0	0	0	0	26.44	26.19	26.44
885	-0.55	-146.6	2250	923	2609	2586	64.2	-6.3	108	893	0.00	2.15	0.00	0.000	1030	0.000	0.055	2250	2340	2597	2609	2586	0	0	0	0	0	0	26.25	26.21	26.27
1012	-0.55	-146.6	2249	2340	2608	2585	73.2	-8.0	121	1016	0.00	2.15	0.00	0.000	260	0.000	0.065	2250	3746	2597	2608	2586	0	0	0	0	0	0	26.50	26.24	26.51
1051	-0.55	-146.6	2249	3746	2608	2586	76.3	-8.5	124	1058	0.00	2.15	0.00	0.000	1030	0.000	0.050	2250	2324	2597	2608	2586	0	0	0	0	0	0	26.30	26.28	26.32
1178	-0.55	-146.6	2249	2324	2608	2586	85.8	-6.6	137	1182	0.00	2.05	0.00	0.000	516	0.000	0.057	2250	939	2597	2608	2586	0	0	0	0	0	0	26.53	26.29	26.54
1292	-0.55	-146.6	2249	921	2609	2585	93.7	-7.8	148	1299	0.00	2.15	0.00	0.000	1030	0.000	0.055	2250	2340	2597	2609	2585	0	0	0	0	0	0	26.33	26.29	26.35
1419	-0.55	-146.6	2249	2339	2609	2585	102.3	-6.1	161	1423	0.00	2.15	0.00	0.000	260	0.000	0.065	2250	3750	2596	2608	2585	0	0	0	0	0	0	26.56	26.32	26.58
1505	-0.55	-146.6	2250	3750	2609	2586	109.0	-7.9	169	1509	0.00	2.10	0.00	0.000	1030	0.000	0.050	2250	2317	2596	2608	2585	0	0	0	0	0	0	26.41	26.36	26.42
1630	-0.55	-146.6	2250	2317	2608	2585	118.4	-7.6	181	1633	0.00	2.05	0.00	0.000	516	0.000	0.057	2250	922	2596	2608	2585	0	0	0	0	0	0	26.60	26.36	26.62
1679	-0.55	-146.6	2249	922	2608	2585	122.1	-8.0	185	1686	0.00	2.12	0.00	0.000	1030	0.000	0.055	2249	2331	2597	2609	2585	0	0	0	0	0	0	26.39	26.36	26.41
1806	-0.55	-146.6	2249	2331	2608	2585	131.0	-6.5	198	1810	0.00	2.15	0.00	0.000	260	0.000	0.065	2250	3746	2596	2608	2585	0	0	0	0	0	0	26.63	26.37	26.64
1884	-0.55	-146.6	2249	3746	2608	2586	135.8	-6.0	205	1892	0.00	2.12	0.00	0.000	1030	0.000	0.050	2250	2332	2596	2608	2585	0	0	0	0	0	0	26.44	26.40	26.44
2012	-0.55	-146.6	2249	2332	2608	2585	142.9	-5.3	218	2013	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2332	2596	2608	2585	0	0	0	0	0	0	26.65	26.67	26.66
2132	-0.55	-146.6	2249	2332	2608	2585	148.8	-4.9	230	2141	0.00	2.17	0.00	0.000	260	0.000	0.065	2249	3747	2597	2608	2586	0	0	0	0	0	0	26.67	26.40	26.67
2162	-0.55	-146.6	2249	3747	2608	2585	150.6	-5.5	233	2166	0.00	2.08	0.00	0.000	1030	0.000	0.050	2250	2326	2596	2608	2585	0	0	0	0	0	0	26.48	26.44	26.50
2287	-0.55	-146.6	2249	2326	2608	2585	158.1	-6.3	245	2291	0.00	2.05	0.00	0.000	516	0.000	0.057	2250	930	2596	2608	2585	0	0	0	0	0	0	26.68	26.44	26.69
2388	-0.55	-146.6	2249	913	2608	2585	164.2	-6.2	255	2392	0.00	2.10	0.00	0.000	1030	0.000	0.055	2249	2346	2596	2608	2585	0	0	0	0	0	0	26.49	26.43	26.51
2513	-0.55	-146.6	2249	2346	2608	2585	171.6	-5.9	267	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2346	2596	2608	2585	0	0	0	0	0	0	26.70	26.71	26.71
2633	-0.55	-146.6	2249	2346	2608	2585	177.9	-5.1	279	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2347	2596	2608	2585	0	0	0	0	0	0	26.70	26.72	26.72
2682	end dive: TARGET_DEPTH_EXCEEDED
state	2682	begin apogee
2685	-0.19	0.0	2249	2346	2608	2585	180.5	-5.3	284	2794	0.35	0.00	101.88	1.112	10246	0.122	0.000	2377	2347	2099	2150	2049	0	0	0	0	0	0	26.39	24.65	24.05
2795	end apogee: CONTROL_FINISHED_OK
state	2795	begin climb
2796	0.55	146.6	2377	2347	2150	2049	181.8	0.0	295	2914	0.57	2.30	108.30	1.088	10500	0.087	0.070	2596	3736	1595	1689	1501	0	0	0	0	0	0	24.84	24.48	23.87
2959	0.55	146.6	2596	3736	1689	1503	170.9	9.7	311	2966	0.00	2.20	0.00	0.000	1030	0.000	0.047	2606	2344	1596	1689	1503	0	0	0	0	0	0	25.19	25.17	25.20
3086	0.55	146.6	2606	2344	1689	1503	159.0	9.0	324	3090	0.00	2.15	0.00	0.000	516	0.000	0.057	2617	918	1596	1689	1503	0	0	0	0	0	0	25.82	25.58	25.83
3146	0.55	146.6	2617	918	1689	1503	153.2	10.0	329	3153	0.00	2.15	0.00	0.000	1030	0.000	0.055	2617	2336	1596	1689	1503	0	0	0	0	0	0	25.75	25.70	25.77
3272	0.55	146.6	2616	2337	1689	1503	141.1	9.2	342	3276	0.00	2.20	0.00	0.000	260	0.000	0.065	2617	3747	1596	1689	1503	0	0	0	0	0	0	26.10	25.84	26.10
3398	0.55	146.6	2617	3747	1689	1505	127.9	9.9	354	3407	0.00	2.12	0.00	0.000	1030	0.000	0.050	2627	2319	1597	1689	1505	0	0	0	0	0	0	26.03	25.98	26.05
3528	0.55	146.6	2627	2319	1689	1505	116.6	8.8	367	3529	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2319	1597	1689	1505	0	0	0	0	0	0	26.29	26.31	26.30
3648	0.55	146.6	2627	2319	1689	1505	105.8	8.6	379	3649	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2319	1597	1689	1505	0	0	0	0	0	0	26.36	26.37	26.36
3768	0.55	146.6	2627	2319	1689	1505	95.6	8.2	391	3772	0.00	2.25	0.00	0.000	260	0.000	0.067	2627	3741	1597	1689	1505	0	0	0	0	0	0	26.41	26.15	26.42
3812	0.55	146.6	2627	3752	1689	1505	91.3	10.5	395	3819	0.00	2.15	0.00	0.000	1030	0.000	0.050	2637	2329	1597	1689	1505	0	0	0	0	0	0	26.22	26.19	26.23
3939	0.55	146.6	2637	2329	1689	1505	79.6	9.1	408	3942	0.00	2.05	0.00	0.000	516	0.000	0.057	2648	928	1597	1689	1505	0	0	0	0	0	0	26.46	26.22	26.47
3974	0.55	146.6	2648	927	1689	1505	76.5	8.6	411	3979	0.12	2.10	0.00	0.000	5126	0.164	0.055	2605	2340	1597	1689	1505	0	0	0	0	0	0	26.13	26.22	26.23
4099	0.55	146.6	2605	2340	1689	1505	67.3	7.7	423	4103	0.00	2.10	0.00	0.000	516	0.000	0.057	2615	924	1597	1689	1505	0	0	0	0	0	0	26.51	26.26	26.52
4135	0.55	146.6	2615	924	1689	1506	64.5	7.8	426	4139	0.00	2.10	0.00	0.000	1030	0.000	0.055	2615	2343	1597	1689	1505	0	0	0	0	0	0	26.33	26.27	26.34
4260	0.55	146.6	2615	2343	1689	1505	54.3	8.0	438	4264	0.00	2.12	0.00	0.000	260	0.000	0.065	2615	3738	1597	1689	1505	0	0	0	0	0	0	26.54	26.28	26.55
4366	0.55	146.6	2615	3738	1689	1506	44.9	8.5	448	4370	0.00	2.08	0.00	0.000	1030	0.000	0.050	2626	2318	1597	1689	1505	0	0	0	0	0	0	26.39	26.34	26.40
4491	0.55	146.6	2626	2318	1689	1506	34.6	8.0	460	4495	0.00	2.03	0.00	0.000	516	0.000	0.057	2636	947	1597	1689	1505	0	0	0	0	0	0	26.58	26.34	26.60
4534	0.55	146.6	2636	931	1689	1505	31.2	8.2	464	4542	0.00	2.12	0.00	0.000	1030	0.000	0.052	2637	2338	1597	1689	1506	0	0	0	0	0	0	26.38	26.34	26.39
4661	0.55	146.6	2636	2338	1689	1505	19.9	9.4	477	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2338	1597	1689	1505	0	0	0	0	0	0	26.61	26.63	26.62
4729	0.55	146.6	2636	2338	1689	1505	14.0	8.3	490	4735	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2338	1597	1689	1505	0	0	0	0	0	0	26.62	26.63	26.63
4796	0.55	146.6	2636	2338	1689	1505	8.5	7.9	503	4802	0.00	2.15	0.00	0.000	260	0.000	0.065	2637	3740	1597	1689	1506	0	0	0	0	0	0	26.63	26.36	26.64
4883	end climb: SURFACE_DEPTH_REACHED
state	4883	begin surface coast
4909	end surface coast: CONTROL_FINISHED_OK
state	4909	begin surface