Glider dive log

Shilshole 27Jun12 * SG166 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_C 9.8500004e-06 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 7 HEADING -1 ROLL_MAX 3786 ALTIM_PING_DEPTH 90

DIVE 2 ESCAPE_HEADING 0 ROLL_DEG 28 ALTIM_PING_DELTA 10

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 5

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1030 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 338 R_PORT_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT 2.5999999

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 455 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1857 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 50 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 70 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -25757.912 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 147 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 109 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 160 FG_AHR_24V 0 SEABIRD_T_G 0.0043150801

MAX_BUOY 120 PITCH_MAX 3938 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063196511

COURSE_BIAS 0 C_PITCH 2487 PRESSURE_YINT -28.661125 SEABIRD_T_I 2.3897506e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_J 2.561103e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.001128

RHO 1.0228 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.125791

MASS 52243 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0024671701

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00026194067

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_10V 109 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_24V 147 D_SAFE 0 PITCH_ADJ_GAIN 0 SM_CC 338

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 27 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3938 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 160 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160501 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -28.661125 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 2

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 50

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -25757.912

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 166 RHO 1.0228 T_MISSION 70

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.5999999 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 2487 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 ROLL_DEG 28 T_WATCHDOG 10

C_ROLL_DIVE 2050 LOGGERDEVICE3 -1 ROLL_MAX 3786 UNCOM_BLEED 50

C_VBD 1857 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 197 USE_BATHY -6

DEEPGLIDERMB 0 MASS 52243 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 120 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 19 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_G -10.001128 VBD_MIN 455

DIVE 2 NOCOMM_ACTION 0 SEABIRD_C_H 1.125791 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 N_DIVES 0 SEABIRD_C_I -0.0024671701 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00026194067 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043150801 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00063196511 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3897506e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.561103e-06

Pre-dive calculations and measurements:

GPS1 270612,171055,4742.564,-12224.882,9,1.1,9,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.036,0.233

_SM_DEPTHo 1.15 KALMAN_X -28.8,-28.8,-28.8,-32.4,-96.2

_SM_ANGLEo -68.1 KALMAN_Y -101.5,-101.5,-101.5,110.2,-339.6

GPS2 270612,171501,4742.525,-12224.865,10,1.1,16,18.2 MHEAD_RNG_PITCHd_Wd 350.5,2547,-20.4,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 176

Post-dive calculations and measurements:

FINISH 1.7,1.019560 _24V_AH 24.0,0.318

SM_CCo 2862,88.68,0.141,0,0,474,338.02 _10V_AH 10.0,0.174

SM_GC 1.74,7.20,1.50,88.68,0.082,0.041,0.141,155,2042,474,-7.23,1.19,338.02,0,0,0,0,0,0,26.46,26.51,26.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12226.07,270612,171721 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323404

HUMID 46.69 DATA_FILE_SIZE 10150,275

INTERNAL_PRESSURE 9.19205 CAP_FILE_SIZE 101560,0

TCM_TEMP 20.00 CFSIZE 260165632,257794048

XPDR_PINGS 20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

SC_FREEKB 7769216 GPS 270612,180616,4742.724,-12224.961,9,99.0,28,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 251 105.25 nil 0 0 0.00

Roll_motor 45 64 69.86 nil 0 0 0.00

VBD_pump_during_apogee 213 1214 6225.19 nil 0 0 0.00

VBD_pump_during_surface 88 140 299.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2826 36 2459.57

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 6 420 68.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.45

TT8 889 19 176.09

LPSleep 940 2 20.59

TT8_Active 404 19 80.10

TT8_Sampling 679 39 270.64

TT8_CF8 116 45 53.36

TT8_Kalman 30 81 24.60

Analog_circuits 841 12 100.99

GPS_charging 0 0 0.00

Compass 644 5 32.20

RAFOS 0 0 0.00

Transponder 11 30 3.57

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.80 -117.3 0.0 0.0 0 80 0.00 0.00 -60.85 0.000 2 0.000 0.000 139 2066 1876 0 0 0 0 0 0 28.83 28.83 28.83

84 -0.80 -117.3 3.9 -6.2 6 110 8.32 1.55 -12.57 0.000 4 0.252 0.063 2218 1056 2337 0 0 0 0 0 0 25.96 26.32 26.63

149 -0.80 -117.3 10.5 -8.3 12 154 0.00 1.50 0.00 0.000 6 0.000 0.046 2217 2069 2339 0 0 0 0 0 0 28.83 26.32 28.83

192 -0.80 -117.3 15.1 -10.2 16 197 0.00 1.50 0.00 0.000 4 0.000 0.060 2200 3060 2339 0 0 0 0 0 0 28.83 26.32 28.83

234 -0.80 -117.3 20.7 -13.3 20 240 0.10 1.50 0.00 0.000 6 0.190 0.038 2221 2016 2339 0 0 0 0 0 0 26.19 26.39 28.83

277 -0.80 -117.3 26.8 -13.9 24 279 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2016 2339 0 0 0 0 0 0 28.83 28.83 28.83

307 -0.80 -117.3 30.9 -13.7 27 309 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2015 2339 0 0 0 0 0 0 28.83 28.83 28.83

337 -0.80 -117.3 34.8 -13.2 30 339 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2015 2339 0 0 0 0 0 0 28.83 28.83 28.83

367 -0.80 -117.3 38.5 -12.4 33 369 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2014 2339 0 0 0 0 0 0 28.83 28.83 28.83

397 -0.80 -117.3 42.3 -12.4 36 399 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2018 2339 0 0 0 0 0 0 28.83 28.83 28.83

427 -0.80 -117.3 46.2 -13.2 39 432 0.00 1.40 0.00 0.000 4 0.000 0.043 2218 1069 2339 0 0 0 0 0 0 28.83 26.45 28.83

581 -0.80 -117.3 64.5 -11.5 54 586 0.00 1.50 0.00 0.000 6 0.000 0.046 2214 2057 2339 0 0 0 0 0 0 28.83 26.46 28.83

624 -0.80 -117.3 69.0 -10.6 58 629 0.00 1.50 0.00 0.000 4 0.000 0.061 2207 3052 2340 0 0 0 0 0 0 28.83 26.45 28.83

710 -0.80 -117.3 77.8 -10.6 66 716 0.00 1.48 0.00 0.000 6 0.000 0.041 2210 2058 2337 0 0 0 0 0 0 28.83 26.53 28.83

746 -0.80 -117.3 82.0 -10.3 70 747 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2058 2339 0 0 0 0 0 0 28.83 28.83 28.83

776 -0.80 -117.3 85.1 -10.2 73 777 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2058 2339 0 0 0 0 0 0 28.83 28.83 28.83

807 -0.80 -117.3 87.9 -9.7 76 812 0.00 1.45 0.00 0.000 4 0.000 0.043 2207 1071 2339 0 0 0 0 0 0 28.83 26.52 28.83

906 -0.80 -117.3 97.8 -10.1 85 913 0.00 1.50 0.00 0.000 6 0.000 0.048 2200 2085 2339 0 0 0 0 0 0 28.83 26.51 28.83

941 -0.80 -117.3 101.5 -9.4 89 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2085 2339 0 0 0 0 0 0 28.83 28.83 28.83

972 -0.80 -117.3 104.5 -9.8 92 973 0.00 0.00 0.00 0.000 6 0.000 0.000 2201 2085 2339 0 0 0 0 0 0 28.83 28.83 28.83

1001 -0.80 -117.3 107.4 -9.6 95 1002 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2085 2339 0 0 0 0 0 0 28.83 28.83 28.83

1032 -0.80 -117.3 110.4 -10.1 98 1033 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2085 2339 0 0 0 0 0 0 28.83 28.83 28.83

1061 -0.80 -117.3 113.4 -9.9 101 1066 0.00 1.50 0.00 0.000 4 0.000 0.043 2197 1049 2339 0 0 0 0 0 0 28.83 26.55 28.83

1104 -0.80 -117.3 118.0 -10.9 105 1110 0.12 1.50 0.00 0.000 6 0.187 0.047 2225 2067 2339 0 0 0 0 0 0 26.34 26.53 28.83

1147 -0.80 -117.3 122.5 -10.5 109 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2067 2340 0 0 0 0 0 0 28.83 28.83 28.83

1178 -0.80 -117.3 125.4 -9.6 112 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2067 2339 0 0 0 0 0 0 28.83 28.83 28.83

1207 -0.80 -117.3 128.3 -9.8 115 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2067 2339 0 0 0 0 0 0 28.83 28.83 28.83

1237 -0.80 -117.3 131.1 -9.2 118 1242 0.00 1.50 0.00 0.000 4 0.000 0.063 2216 3060 2339 0 0 0 0 0 0 28.83 26.51 28.83

1290 -0.80 -117.3 136.2 -9.9 123 1296 0.00 1.50 0.00 0.000 6 0.000 0.040 2214 2013 2339 0 0 0 0 0 0 28.83 26.59 28.83

1334 -0.80 -117.3 140.4 -9.9 127 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2013 2339 0 0 0 0 0 0 28.83 28.83 28.83

1363 -0.80 -117.3 143.3 -9.7 130 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2013 2339 0 0 0 0 0 0 28.83 28.83 28.83

1393 -0.80 -117.3 146.1 -9.3 133 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2013 2339 0 0 0 0 0 0 28.83 28.83 28.83

1423 -0.80 -117.3 148.9 -9.4 136 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2013 2339 0 0 0 0 0 0 28.83 28.83 28.83

1442 end dive: TARGET_DEPTH_EXCEEDED

state 1442 begin apogee

1447 -0.19 0.0 150.9 -9.6 138 1565 0.65 0.00 105.70 1.214 6 0.145 0.000 2422 2009 1856 0 0 0 0 1 0 26.37 28.83 23.99

1566 end apogee: CONTROL_FINISHED_OK

state 1566 begin climb

1569 0.80 117.3 153.3 0.0 150 1695 0.93 1.75 107.95 1.189 4 0.098 0.062 2737 3031 1379 0 0 0 0 1 0 25.05 24.82 23.95

1823 0.80 117.3 125.2 14.5 175 1829 0.00 1.50 0.00 0.000 6 0.000 0.042 2743 2023 1381 0 0 0 0 0 0 28.83 25.83 28.83

1859 0.80 117.3 120.0 13.2 179 1864 0.00 1.58 0.00 0.000 4 0.000 0.063 2744 3032 1381 0 0 0 0 0 0 28.83 25.86 28.83

1906 0.80 117.3 114.3 13.2 183 1912 0.00 1.50 0.00 0.000 6 0.000 0.043 2751 2019 1380 0 0 0 0 0 0 28.83 26.00 28.83

1942 0.80 117.3 108.8 13.9 187 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2018 1381 0 0 0 0 0 0 28.83 28.83 28.83

1972 0.80 117.3 104.8 13.4 190 1977 0.00 1.58 0.00 0.000 4 0.000 0.063 2752 3029 1381 0 0 0 0 0 0 28.83 26.05 28.83

2058 0.80 117.3 92.9 14.8 198 2064 0.00 1.50 0.00 0.000 6 0.000 0.043 2759 2014 1381 0 0 0 0 0 0 28.83 26.17 28.83

2094 0.80 117.3 87.1 14.4 202 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2014 1381 0 0 0 0 0 0 28.83 28.83 28.83

2124 0.80 117.3 83.0 13.7 205 2129 0.00 1.58 0.00 0.000 4 0.000 0.063 2762 3034 1380 0 0 0 0 0 0 28.83 26.19 28.83

2187 0.80 117.3 74.0 14.8 211 2192 0.00 1.48 0.00 0.000 6 0.000 0.042 2767 2055 1380 0 0 0 0 0 0 28.83 26.28 28.83

2230 0.80 117.3 68.3 13.2 215 2231 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2055 1380 0 0 0 0 0 0 28.83 28.83 28.83

2260 0.80 117.3 64.7 11.9 218 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2055 1381 0 0 0 0 0 0 28.83 28.83 28.83

2290 0.80 117.3 61.4 11.1 221 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2055 1381 0 0 0 0 0 0 28.83 28.83 28.83

2320 0.80 117.3 58.2 10.9 224 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2055 1380 0 0 0 0 0 0 28.83 28.83 28.83

2350 0.80 117.3 54.6 11.6 227 2355 0.00 1.48 0.00 0.000 4 0.000 0.045 2774 1067 1380 0 0 0 0 0 0 28.83 26.34 28.83

2522 0.80 117.3 33.9 12.3 244 2527 0.00 1.50 0.00 0.000 6 0.000 0.050 2774 2074 1380 0 0 0 0 0 0 28.83 26.39 28.83

2565 0.80 117.3 28.9 11.5 248 2570 0.00 1.50 0.00 0.000 4 0.000 0.064 2775 3060 1380 0 0 0 0 0 0 28.83 26.39 28.83

2591 0.80 117.3 26.3 11.6 250 2599 0.10 1.52 0.00 0.000 6 0.203 0.042 2753 2049 1380 0 0 0 0 0 0 26.25 26.45 28.83

2627 0.80 117.3 21.8 11.0 254 2629 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2049 1380 0 0 0 0 0 0 28.83 28.83 28.83

2657 0.80 117.3 18.8 10.3 257 2662 0.00 1.48 0.00 0.000 4 0.000 0.047 2758 1062 1380 0 0 0 0 0 0 28.83 26.45 28.83

2693 0.80 117.3 15.5 10.1 260 2700 0.00 1.50 0.00 0.000 6 0.000 0.050 2754 2069 1380 0 0 0 0 0 0 28.83 26.43 28.83

2730 0.80 117.3 11.4 10.3 264 2735 0.00 1.50 0.00 0.000 4 0.000 0.063 2756 3033 1379 0 0 0 0 0 0 28.83 26.43 28.83

2832 end climb: SURFACE_DEPTH_REACHED

state 2832 begin surface coast

2843 end surface coast: CONTROL_FINISHED_OK

state 2843 begin surface

ID	166	HD_C	9.8500004e-06	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	7	HEADING	-1	ROLL_MAX	3786	ALTIM_PING_DEPTH	90
DIVE	2	ESCAPE_HEADING	0	ROLL_DEG	28	ALTIM_PING_DELTA	10
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	5
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1030	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	338	R_PORT_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	2.5999999
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	455	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1857	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	50	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	70	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-25757.912	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	147	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	109	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	160	FG_AHR_24V	0	SEABIRD_T_G	0.0043150801
MAX_BUOY	120	PITCH_MAX	3938	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063196511
COURSE_BIAS	0	C_PITCH	2487	PRESSURE_YINT	-28.661125	SEABIRD_T_I	2.3897506e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_J	2.561103e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.001128
RHO	1.0228	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.125791
MASS	52243	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0024671701
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00026194067
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	270612,171055,4742.564,-12224.882,9,1.1,9,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.036,0.233
_SM_DEPTHo	1.15	KALMAN_X	-28.8,-28.8,-28.8,-32.4,-96.2
_SM_ANGLEo	-68.1	KALMAN_Y	-101.5,-101.5,-101.5,110.2,-339.6
GPS2	270612,171501,4742.525,-12224.865,10,1.1,16,18.2	MHEAD_RNG_PITCHd_Wd	350.5,2547,-20.4,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	176

FINISH	1.7,1.019560	_24V_AH	24.0,0.318
SM_CCo	2862,88.68,0.141,0,0,474,338.02	_10V_AH	10.0,0.174
SM_GC	1.74,7.20,1.50,88.68,0.082,0.041,0.141,155,2042,474,-7.23,1.19,338.02,0,0,0,0,0,0,26.46,26.51,26.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12226.07,270612,171721	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323404
HUMID	46.69	DATA_FILE_SIZE	10150,275
INTERNAL_PRESSURE	9.19205	CAP_FILE_SIZE	101560,0
TCM_TEMP	20.00	CFSIZE	260165632,257794048
XPDR_PINGS	20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
SC_FREEKB	7769216	GPS	270612,180616,4742.724,-12224.961,9,99.0,28,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	251	105.25	nil	0	0	0.00
Roll_motor	45	64	69.86	nil	0	0	0.00
VBD_pump_during_apogee	213	1214	6225.19	nil	0	0	0.00
VBD_pump_during_surface	88	140	299.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2826	36	2459.57
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	6	420	68.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.45
TT8	889	19	176.09
LPSleep	940	2	20.59
TT8_Active	404	19	80.10
TT8_Sampling	679	39	270.64
TT8_CF8	116	45	53.36
TT8_Kalman	30	81	24.60
Analog_circuits	841	12	100.99
GPS_charging	0	0	0.00
Compass	644	5	32.20
RAFOS	0	0	0.00
Transponder	11	30	3.57

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.80	-117.3	0.0	0.0	0	80	0.00	0.00	-60.85	0.000	2	0.000	0.000	139	2066	1876	0	0	0	0	0	0	28.83	28.83	28.83
84	-0.80	-117.3	3.9	-6.2	6	110	8.32	1.55	-12.57	0.000	4	0.252	0.063	2218	1056	2337	0	0	0	0	0	0	25.96	26.32	26.63
149	-0.80	-117.3	10.5	-8.3	12	154	0.00	1.50	0.00	0.000	6	0.000	0.046	2217	2069	2339	0	0	0	0	0	0	28.83	26.32	28.83
192	-0.80	-117.3	15.1	-10.2	16	197	0.00	1.50	0.00	0.000	4	0.000	0.060	2200	3060	2339	0	0	0	0	0	0	28.83	26.32	28.83
234	-0.80	-117.3	20.7	-13.3	20	240	0.10	1.50	0.00	0.000	6	0.190	0.038	2221	2016	2339	0	0	0	0	0	0	26.19	26.39	28.83
277	-0.80	-117.3	26.8	-13.9	24	279	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2016	2339	0	0	0	0	0	0	28.83	28.83	28.83
307	-0.80	-117.3	30.9	-13.7	27	309	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2015	2339	0	0	0	0	0	0	28.83	28.83	28.83
337	-0.80	-117.3	34.8	-13.2	30	339	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2015	2339	0	0	0	0	0	0	28.83	28.83	28.83
367	-0.80	-117.3	38.5	-12.4	33	369	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2014	2339	0	0	0	0	0	0	28.83	28.83	28.83
397	-0.80	-117.3	42.3	-12.4	36	399	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2018	2339	0	0	0	0	0	0	28.83	28.83	28.83
427	-0.80	-117.3	46.2	-13.2	39	432	0.00	1.40	0.00	0.000	4	0.000	0.043	2218	1069	2339	0	0	0	0	0	0	28.83	26.45	28.83
581	-0.80	-117.3	64.5	-11.5	54	586	0.00	1.50	0.00	0.000	6	0.000	0.046	2214	2057	2339	0	0	0	0	0	0	28.83	26.46	28.83
624	-0.80	-117.3	69.0	-10.6	58	629	0.00	1.50	0.00	0.000	4	0.000	0.061	2207	3052	2340	0	0	0	0	0	0	28.83	26.45	28.83
710	-0.80	-117.3	77.8	-10.6	66	716	0.00	1.48	0.00	0.000	6	0.000	0.041	2210	2058	2337	0	0	0	0	0	0	28.83	26.53	28.83
746	-0.80	-117.3	82.0	-10.3	70	747	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2058	2339	0	0	0	0	0	0	28.83	28.83	28.83
776	-0.80	-117.3	85.1	-10.2	73	777	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2058	2339	0	0	0	0	0	0	28.83	28.83	28.83
807	-0.80	-117.3	87.9	-9.7	76	812	0.00	1.45	0.00	0.000	4	0.000	0.043	2207	1071	2339	0	0	0	0	0	0	28.83	26.52	28.83
906	-0.80	-117.3	97.8	-10.1	85	913	0.00	1.50	0.00	0.000	6	0.000	0.048	2200	2085	2339	0	0	0	0	0	0	28.83	26.51	28.83
941	-0.80	-117.3	101.5	-9.4	89	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2085	2339	0	0	0	0	0	0	28.83	28.83	28.83
972	-0.80	-117.3	104.5	-9.8	92	973	0.00	0.00	0.00	0.000	6	0.000	0.000	2201	2085	2339	0	0	0	0	0	0	28.83	28.83	28.83
1001	-0.80	-117.3	107.4	-9.6	95	1002	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2085	2339	0	0	0	0	0	0	28.83	28.83	28.83
1032	-0.80	-117.3	110.4	-10.1	98	1033	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2085	2339	0	0	0	0	0	0	28.83	28.83	28.83
1061	-0.80	-117.3	113.4	-9.9	101	1066	0.00	1.50	0.00	0.000	4	0.000	0.043	2197	1049	2339	0	0	0	0	0	0	28.83	26.55	28.83
1104	-0.80	-117.3	118.0	-10.9	105	1110	0.12	1.50	0.00	0.000	6	0.187	0.047	2225	2067	2339	0	0	0	0	0	0	26.34	26.53	28.83
1147	-0.80	-117.3	122.5	-10.5	109	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2067	2340	0	0	0	0	0	0	28.83	28.83	28.83
1178	-0.80	-117.3	125.4	-9.6	112	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2067	2339	0	0	0	0	0	0	28.83	28.83	28.83
1207	-0.80	-117.3	128.3	-9.8	115	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2067	2339	0	0	0	0	0	0	28.83	28.83	28.83
1237	-0.80	-117.3	131.1	-9.2	118	1242	0.00	1.50	0.00	0.000	4	0.000	0.063	2216	3060	2339	0	0	0	0	0	0	28.83	26.51	28.83
1290	-0.80	-117.3	136.2	-9.9	123	1296	0.00	1.50	0.00	0.000	6	0.000	0.040	2214	2013	2339	0	0	0	0	0	0	28.83	26.59	28.83
1334	-0.80	-117.3	140.4	-9.9	127	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2013	2339	0	0	0	0	0	0	28.83	28.83	28.83
1363	-0.80	-117.3	143.3	-9.7	130	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2013	2339	0	0	0	0	0	0	28.83	28.83	28.83
1393	-0.80	-117.3	146.1	-9.3	133	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2013	2339	0	0	0	0	0	0	28.83	28.83	28.83
1423	-0.80	-117.3	148.9	-9.4	136	1425	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2013	2339	0	0	0	0	0	0	28.83	28.83	28.83
1442	end dive: TARGET_DEPTH_EXCEEDED
state	1442	begin apogee
1447	-0.19	0.0	150.9	-9.6	138	1565	0.65	0.00	105.70	1.214	6	0.145	0.000	2422	2009	1856	0	0	0	0	1	0	26.37	28.83	23.99
1566	end apogee: CONTROL_FINISHED_OK
state	1566	begin climb
1569	0.80	117.3	153.3	0.0	150	1695	0.93	1.75	107.95	1.189	4	0.098	0.062	2737	3031	1379	0	0	0	0	1	0	25.05	24.82	23.95
1823	0.80	117.3	125.2	14.5	175	1829	0.00	1.50	0.00	0.000	6	0.000	0.042	2743	2023	1381	0	0	0	0	0	0	28.83	25.83	28.83
1859	0.80	117.3	120.0	13.2	179	1864	0.00	1.58	0.00	0.000	4	0.000	0.063	2744	3032	1381	0	0	0	0	0	0	28.83	25.86	28.83
1906	0.80	117.3	114.3	13.2	183	1912	0.00	1.50	0.00	0.000	6	0.000	0.043	2751	2019	1380	0	0	0	0	0	0	28.83	26.00	28.83
1942	0.80	117.3	108.8	13.9	187	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2018	1381	0	0	0	0	0	0	28.83	28.83	28.83
1972	0.80	117.3	104.8	13.4	190	1977	0.00	1.58	0.00	0.000	4	0.000	0.063	2752	3029	1381	0	0	0	0	0	0	28.83	26.05	28.83
2058	0.80	117.3	92.9	14.8	198	2064	0.00	1.50	0.00	0.000	6	0.000	0.043	2759	2014	1381	0	0	0	0	0	0	28.83	26.17	28.83
2094	0.80	117.3	87.1	14.4	202	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2014	1381	0	0	0	0	0	0	28.83	28.83	28.83
2124	0.80	117.3	83.0	13.7	205	2129	0.00	1.58	0.00	0.000	4	0.000	0.063	2762	3034	1380	0	0	0	0	0	0	28.83	26.19	28.83
2187	0.80	117.3	74.0	14.8	211	2192	0.00	1.48	0.00	0.000	6	0.000	0.042	2767	2055	1380	0	0	0	0	0	0	28.83	26.28	28.83
2230	0.80	117.3	68.3	13.2	215	2231	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2055	1380	0	0	0	0	0	0	28.83	28.83	28.83
2260	0.80	117.3	64.7	11.9	218	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2055	1381	0	0	0	0	0	0	28.83	28.83	28.83
2290	0.80	117.3	61.4	11.1	221	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2055	1381	0	0	0	0	0	0	28.83	28.83	28.83
2320	0.80	117.3	58.2	10.9	224	2321	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2055	1380	0	0	0	0	0	0	28.83	28.83	28.83
2350	0.80	117.3	54.6	11.6	227	2355	0.00	1.48	0.00	0.000	4	0.000	0.045	2774	1067	1380	0	0	0	0	0	0	28.83	26.34	28.83
2522	0.80	117.3	33.9	12.3	244	2527	0.00	1.50	0.00	0.000	6	0.000	0.050	2774	2074	1380	0	0	0	0	0	0	28.83	26.39	28.83
2565	0.80	117.3	28.9	11.5	248	2570	0.00	1.50	0.00	0.000	4	0.000	0.064	2775	3060	1380	0	0	0	0	0	0	28.83	26.39	28.83
2591	0.80	117.3	26.3	11.6	250	2599	0.10	1.52	0.00	0.000	6	0.203	0.042	2753	2049	1380	0	0	0	0	0	0	26.25	26.45	28.83
2627	0.80	117.3	21.8	11.0	254	2629	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2049	1380	0	0	0	0	0	0	28.83	28.83	28.83
2657	0.80	117.3	18.8	10.3	257	2662	0.00	1.48	0.00	0.000	4	0.000	0.047	2758	1062	1380	0	0	0	0	0	0	28.83	26.45	28.83
2693	0.80	117.3	15.5	10.1	260	2700	0.00	1.50	0.00	0.000	6	0.000	0.050	2754	2069	1380	0	0	0	0	0	0	28.83	26.43	28.83
2730	0.80	117.3	11.4	10.3	264	2735	0.00	1.50	0.00	0.000	4	0.000	0.063	2756	3033	1379	0	0	0	0	0	0	28.83	26.43	28.83
2832	end climb: SURFACE_DEPTH_REACHED
state	2832	begin surface coast
2843	end surface coast: CONTROL_FINISHED_OK
state	2843	begin surface