Glider dive log

Shilshole 27Jun12 * SG181 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 HD_C 9.9999997e-06 ROLL_MIN 209 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 7 HEADING -1 ROLL_MAX 3785 ALTIM_PING_DEPTH 90

DIVE 5 ESCAPE_HEADING 0 ROLL_DEG 30 ALTIM_PING_DELTA 10

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 2

D_ABORT 1030 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 44 SM_CC 290 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 13 INT_PRESSURE_YINT 0

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 350 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 440 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1650 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 -43553.777 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 350 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 50 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 12 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 12 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 225 FG_AHR_24V 0 SEABIRD_T_G 0.004364301

MAX_BUOY 100 PITCH_MAX 3941 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062910357

COURSE_BIAS 0 C_PITCH 2595 PRESSURE_YINT -60.542343 SEABIRD_T_I 2.4425184e-05

GLIDE_SLOPE 50 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116609 SEABIRD_T_J 2.6404416e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9046793

RHO 1.0228 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1251128

MASS 52383 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0019873739

NAV_MODE 1 PITCH_TIMEOUT 17 COMPASS_USE 4 SEABIRD_C_J 0.00023203803

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 0.003 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_10V 50 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 290

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 30 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3941 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 225 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 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 50 PRESSURE_SLOPE 0.000116609 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -60.542343 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PROTOCOL 9 T_BOOST 2

CALL_TRIES 5 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_DIVE 50

CALL_WAIT 60 HD_C 9.9999997e-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 -43553.777

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 181 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 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2595 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_DEG 30 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_MAX 3785 UNCOM_BLEED 50

C_VBD 1650 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 209 USE_BATHY -6

DEEPGLIDERMB 0 MASS 52383 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 100 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_STBD_OVSHOOT 13 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 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 -9.9046793 VBD_MIN 440

DIVE 5 NOCOMM_ACTION 0 SEABIRD_C_H 1.1251128 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 N_DIVES 0 SEABIRD_C_I -0.0019873739 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00023203803 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.004364301 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062910357 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.4425184e-05 XPDR_VALID 2

D_NO_BLEED 44 PHONE_DEVICE 49 SEABIRD_T_J 2.6404416e-06

Pre-dive calculations and measurements:

GPS1 270612,193332,4742.504,-12224.463,9,1.4,9,18.2 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.068,0.205

_SM_DEPTHo 1.07 KALMAN_X 182.8,80.3,69.0,-22.7,90.5

_SM_ANGLEo -73.5 KALMAN_Y -284.9,-229.6,-209.7,684.6,3.3

GPS2 270612,194126,4742.484,-12224.444,11,1.4,11,18.2 MHEAD_RNG_PITCHd_Wd 323.5,2659,-21.7,-10.000

SPEED_LIMITS 0.084,0.216 D_GRID 137

Post-dive calculations and measurements:

FINISH -0.1,1.006305 _24V_AH 14.1,0.732

SM_CCo 2980,28.67,0.174,0,0,465,290.19 _10V_AH 13.8,0.459

SM_GC 2.24,7.50,0.00,28.67,0.094,0.000,0.174,212,2392,465,-7.38,-0.23,290.19,0,0,0,0,0,0,14.80,28.83,14.71 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4713.38,-12242.20,270612,191954 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 323356

HUMID 47.36 DATA_FILE_SIZE 10140,284

INTERNAL_PRESSURE 8.98472 CAP_FILE_SIZE 93592,0

TCM_TEMP 19.60 CFSIZE 260165632,257073152

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 100.0,60.4 GPS 270612,203408,4742.821,-12224.614,25,2.4,44,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 432 120.97 nil 0 0 0.00

Roll_motor 52 178 130.81 nil 0 0 0.00

VBD_pump_during_apogee 245 766 2648.79 nil 0 0 0.00

VBD_pump_during_surface 28 174 70.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 77.08 nil 0 0 0.00

Iridium_during_connect 71 160 162.24 SciCon 2956 22 951.25

Iridium_during_xfer 134 223 422.27 nil 0 0 0.00

Transponder_ping 1 420 7.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 9.43

TT8 931 19 254.48

LPSleep 1031 2 31.17

TT8_Active 340 19 92.92

TT8_Sampling 969 39 532.31

TT8_CF8 233 45 147.77

TT8_Kalman 33 81 37.50

Analog_circuits 792 12 131.19

GPS_charging 0 0 0.00

Compass 674 5 46.51

RAFOS 0 0 0.00

Transponder 10 30 4.16

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.76 -97.8 0.0 0.0 0 61 0.00 0.00 -41.00 0.000 2 0.000 0.000 214 2411 1629 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.76 -97.8 3.2 -9.5 4 91 10.12 1.98 -10.60 0.000 4 0.432 0.178 2332 3466 2050 0 0 0 0 0 0 14.45 14.65 14.92

141 -0.70 -97.8 13.6 -13.2 11 147 0.15 1.80 0.00 0.000 6 0.304 0.094 2363 2389 2055 0 0 0 0 0 0 14.57 14.73 28.83

185 -0.67 -97.8 19.6 -13.0 15 187 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2389 2054 0 0 0 0 0 0 28.83 28.83 28.83

215 -0.64 -97.8 23.4 -12.3 18 220 0.00 1.75 0.00 0.000 4 0.000 0.093 2364 1341 2055 0 0 0 0 0 0 28.83 14.73 28.83

350 -0.63 -97.8 41.2 -13.0 31 356 0.15 1.92 0.00 0.000 6 0.295 0.139 2390 2400 2053 0 0 0 0 0 0 14.63 14.74 28.83

394 -0.63 -97.8 46.2 -11.4 35 395 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2400 2054 0 0 0 0 0 0 28.83 28.83 28.83

424 -0.64 -97.8 49.6 -11.3 38 429 0.00 1.92 0.00 0.000 4 0.000 0.155 2384 3468 2054 0 0 0 0 0 0 28.83 14.71 28.83

477 -0.64 -97.8 56.2 -12.4 43 482 0.00 1.77 0.00 0.000 6 0.000 0.098 2384 2402 2054 0 0 0 0 0 0 28.83 14.79 28.83

520 -0.64 -97.8 61.0 -11.2 47 525 0.00 1.77 0.00 0.000 4 0.000 0.096 2384 1342 2054 0 0 0 0 0 0 28.83 14.78 28.83

554 -0.65 -97.8 64.7 -11.4 50 559 0.00 1.90 0.00 0.000 6 0.000 0.139 2377 2401 2053 0 0 0 0 0 0 28.83 14.76 28.83

597 -0.66 -97.8 69.3 -10.6 54 602 0.00 1.90 0.00 0.000 4 0.000 0.157 2369 3462 2053 0 0 0 0 0 0 28.83 14.73 28.83

620 -0.66 -97.8 72.1 -11.2 56 625 0.00 1.77 0.00 0.000 6 0.000 0.098 2369 2391 2053 0 0 0 0 0 0 28.83 14.80 28.83

663 -0.66 -97.8 77.3 -12.0 60 668 0.00 1.75 0.00 0.000 4 0.000 0.098 2369 1344 2052 0 0 0 0 0 0 28.83 14.78 28.83

720 -0.66 -97.8 83.1 -10.7 65 726 0.00 1.90 0.00 0.000 6 0.000 0.141 2362 2403 2052 0 0 0 0 0 0 28.83 14.70 28.83

756 -0.66 -97.8 87.4 -10.9 69 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

790 -0.66 -97.8 90.9 -11.6 72 796 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

826 -0.66 -97.8 95.4 -11.3 76 827 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2053 0 0 0 0 0 0 28.83 28.83 28.83

856 -0.66 -97.8 98.9 -11.5 79 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

886 -0.66 -97.8 102.4 -11.6 82 887 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

916 -0.66 -97.8 106.1 -12.3 85 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2402 2052 0 0 0 0 0 0 28.83 28.83 28.83

946 -0.66 -97.8 109.8 -12.1 88 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

976 -0.66 -97.8 113.7 -12.9 91 977 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2403 2052 0 0 0 0 0 0 28.83 28.83 28.83

1006 -0.66 -97.8 117.4 -12.2 94 1011 0.00 1.92 0.00 0.000 4 0.000 0.160 2354 3468 2052 0 0 0 0 0 0 28.83 14.74 28.83

1040 -0.65 -97.8 121.9 -13.5 97 1045 0.00 1.77 0.00 0.000 6 0.000 0.102 2354 2401 2052 0 0 0 0 0 0 28.83 14.82 28.83

1083 -0.65 -97.8 127.4 -12.7 101 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2401 2052 0 0 0 0 0 0 28.83 28.83 28.83

1113 -0.65 -97.8 130.6 -10.7 104 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2401 2052 0 0 0 0 0 0 28.83 28.83 28.83

1143 -0.65 -97.8 134.0 -11.7 107 1148 0.00 1.92 0.00 0.000 4 0.000 0.164 2346 3461 2052 0 0 0 0 0 0 28.83 14.75 28.83

1173 end dive: TARGET_DEPTH_EXCEEDED

state 1173 begin apogee

1182 -0.17 0.0 137.5 -10.4 110 1279 0.68 0.00 90.80 0.767 6 0.257 0.000 2530 2391 1648 0 0 0 0 0 0 14.69 28.83 14.19

1281 end apogee: CONTROL_FINISHED_OK

state 1281 begin climb

1284 0.76 97.8 141.2 0.0 120 1376 0.93 0.00 87.00 0.744 6 0.142 0.000 2834 2391 1248 0 0 0 0 0 0 14.50 28.83 14.07

1406 0.69 97.8 129.0 13.8 133 1411 0.00 1.80 0.00 0.000 4 0.000 0.098 2842 1345 1243 0 0 0 0 0 0 28.83 14.45 28.83

1460 0.63 97.8 120.9 14.8 138 1466 0.17 1.92 0.00 0.000 6 0.277 0.132 2809 2410 1242 0 0 0 0 0 0 14.43 14.50 28.83

1504 0.59 97.8 114.8 13.8 142 1505 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2410 1241 0 0 0 0 0 0 28.83 28.83 28.83

1534 0.55 97.8 111.1 12.5 145 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2412 1241 0 0 0 0 0 0 28.83 28.83 28.83

1564 0.52 97.8 107.2 12.8 148 1566 0.15 0.00 0.00 0.000 6 0.300 0.000 2767 2410 1241 0 0 0 0 0 0 14.51 28.83 28.83

1594 0.50 97.8 103.6 12.2 151 1595 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 2411 1241 0 0 0 0 0 0 28.83 28.83 28.83

1624 0.50 97.8 100.4 11.1 154 1625 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 2411 1240 0 0 0 0 0 0 28.83 28.83 28.83

1654 0.50 97.8 97.1 10.8 157 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 2411 1240 0 0 0 0 0 0 28.83 28.83 28.83

1684 0.50 97.8 93.8 11.0 160 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 2411 1240 0 0 0 0 0 0 28.83 28.83 28.83

1714 0.50 97.8 90.8 10.3 163 1719 0.00 1.83 0.00 0.000 4 0.000 0.101 2773 1344 1240 0 0 0 0 0 0 28.83 14.70 28.83

1838 0.50 97.8 76.1 12.4 175 1843 0.00 1.92 0.00 0.000 6 0.000 0.138 2773 2402 1240 0 0 0 0 0 0 28.83 14.71 28.83

1881 0.50 97.8 70.7 12.3 179 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2402 1239 0 0 0 0 0 0 28.83 28.83 28.83

1911 0.50 97.8 66.9 12.5 182 1912 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2403 1240 0 0 0 0 0 0 28.83 28.83 28.83

1941 0.50 97.8 63.0 12.9 185 1946 0.00 1.80 0.00 0.000 4 0.000 0.103 2780 1345 1239 0 0 0 0 0 0 28.83 14.75 28.83

2015 0.50 99.4 55.4 9.9 192 2020 0.00 1.90 0.00 0.000 6 0.000 0.138 2781 2406 1239 0 0 0 0 0 0 28.83 14.73 28.83

2058 0.50 99.4 51.1 10.0 196 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2406 1239 0 0 0 0 0 0 28.83 28.83 28.83

2088 0.50 100.8 48.1 9.9 199 2089 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2406 1239 0 0 0 0 0 0 28.83 28.83 28.83

2118 0.50 104.6 45.3 9.7 202 2127 0.00 0.00 2.00 0.245 6 0.000 0.000 2781 2406 1224 0 0 0 0 0 0 28.83 28.83 14.62

2158 0.50 120.0 41.7 8.9 206 2169 0.00 0.00 8.73 0.296 6 0.000 0.000 2780 2406 1160 0 0 0 0 0 0 28.83 28.83 14.60

2198 0.50 132.7 38.0 9.1 210 2207 0.00 0.00 7.22 0.288 6 0.000 0.000 2780 2406 1107 0 0 0 0 0 0 28.83 28.83 14.62

2238 0.50 143.1 34.3 9.3 214 2249 0.00 1.90 5.50 0.278 4 0.000 0.106 2788 1336 1067 0 0 0 0 0 0 28.83 14.75 14.64

2439 0.53 143.1 15.3 10.7 233 2446 0.00 1.90 1.30 0.226 6 0.000 0.138 2788 2400 1064 0 0 0 0 0 0 28.83 14.76 14.68

2475 0.54 143.1 11.2 10.2 237 2480 0.00 1.90 0.00 0.000 4 0.000 0.155 2788 3463 1069 0 0 0 0 0 0 28.83 14.73 28.83

2498 0.54 143.1 8.6 10.6 239 2503 0.00 1.77 0.00 0.000 6 0.000 0.101 2796 2401 1070 0 0 0 0 0 0 28.83 14.80 28.83

2541 0.54 145.7 4.3 9.8 243 2552 0.00 1.98 2.03 0.208 4 0.000 0.156 2798 3461 1055 0 0 0 0 0 0 28.83 14.73 14.73

2783 0.62 305.9 3.8 -1.0 266 2828 0.00 1.80 40.50 0.177 2 0.000 0.099 2804 2393 706 0 0 0 0 0 0 28.83 14.81 28.83

2829 end climb: SURFACE_DEPTH_REACHED

state 2829 begin surface coast

2961 end surface coast: CONTROL_FINISHED_OK

state 2961 begin surface

ID	181	HD_C	9.9999997e-06	ROLL_MIN	209	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	7	HEADING	-1	ROLL_MAX	3785	ALTIM_PING_DEPTH	90
DIVE	5	ESCAPE_HEADING	0	ROLL_DEG	30	ALTIM_PING_DELTA	10
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2400	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	2
D_ABORT	1030	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	44	SM_CC	290	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	13	INT_PRESSURE_YINT	0
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	350	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	440	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1650	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	-43553.777	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	350	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	50	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	12	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	12	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	225	FG_AHR_24V	0	SEABIRD_T_G	0.004364301
MAX_BUOY	100	PITCH_MAX	3941	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062910357
COURSE_BIAS	0	C_PITCH	2595	PRESSURE_YINT	-60.542343	SEABIRD_T_I	2.4425184e-05
GLIDE_SLOPE	50	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116609	SEABIRD_T_J	2.6404416e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9046793
RHO	1.0228	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1251128
MASS	52383	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0019873739
NAV_MODE	1	PITCH_TIMEOUT	17	COMPASS_USE	4	SEABIRD_C_J	0.00023203803
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	0.003	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	270612,193332,4742.504,-12224.463,9,1.4,9,18.2	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.068,0.205
_SM_DEPTHo	1.07	KALMAN_X	182.8,80.3,69.0,-22.7,90.5
_SM_ANGLEo	-73.5	KALMAN_Y	-284.9,-229.6,-209.7,684.6,3.3
GPS2	270612,194126,4742.484,-12224.444,11,1.4,11,18.2	MHEAD_RNG_PITCHd_Wd	323.5,2659,-21.7,-10.000
SPEED_LIMITS	0.084,0.216	D_GRID	137

FINISH	-0.1,1.006305	_24V_AH	14.1,0.732
SM_CCo	2980,28.67,0.174,0,0,465,290.19	_10V_AH	13.8,0.459
SM_GC	2.24,7.50,0.00,28.67,0.094,0.000,0.174,212,2392,465,-7.38,-0.23,290.19,0,0,0,0,0,0,14.80,28.83,14.71	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4713.38,-12242.20,270612,191954	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	323356
HUMID	47.36	DATA_FILE_SIZE	10140,284
INTERNAL_PRESSURE	8.98472	CAP_FILE_SIZE	93592,0
TCM_TEMP	19.60	CFSIZE	260165632,257073152
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.0,60.4	GPS	270612,203408,4742.821,-12224.614,25,2.4,44,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	432	120.97	nil	0	0	0.00
Roll_motor	52	178	130.81	nil	0	0	0.00
VBD_pump_during_apogee	245	766	2648.79	nil	0	0	0.00
VBD_pump_during_surface	28	174	70.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	77.08	nil	0	0	0.00
Iridium_during_connect	71	160	162.24	SciCon	2956	22	951.25
Iridium_during_xfer	134	223	422.27	nil	0	0	0.00
Transponder_ping	1	420	7.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	9.43
TT8	931	19	254.48
LPSleep	1031	2	31.17
TT8_Active	340	19	92.92
TT8_Sampling	969	39	532.31
TT8_CF8	233	45	147.77
TT8_Kalman	33	81	37.50
Analog_circuits	792	12	131.19
GPS_charging	0	0	0.00
Compass	674	5	46.51
RAFOS	0	0	0.00
Transponder	10	30	4.16

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.76	-97.8	0.0	0.0	0	61	0.00	0.00	-41.00	0.000	2	0.000	0.000	214	2411	1629	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.76	-97.8	3.2	-9.5	4	91	10.12	1.98	-10.60	0.000	4	0.432	0.178	2332	3466	2050	0	0	0	0	0	0	14.45	14.65	14.92
141	-0.70	-97.8	13.6	-13.2	11	147	0.15	1.80	0.00	0.000	6	0.304	0.094	2363	2389	2055	0	0	0	0	0	0	14.57	14.73	28.83
185	-0.67	-97.8	19.6	-13.0	15	187	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2389	2054	0	0	0	0	0	0	28.83	28.83	28.83
215	-0.64	-97.8	23.4	-12.3	18	220	0.00	1.75	0.00	0.000	4	0.000	0.093	2364	1341	2055	0	0	0	0	0	0	28.83	14.73	28.83
350	-0.63	-97.8	41.2	-13.0	31	356	0.15	1.92	0.00	0.000	6	0.295	0.139	2390	2400	2053	0	0	0	0	0	0	14.63	14.74	28.83
394	-0.63	-97.8	46.2	-11.4	35	395	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2400	2054	0	0	0	0	0	0	28.83	28.83	28.83
424	-0.64	-97.8	49.6	-11.3	38	429	0.00	1.92	0.00	0.000	4	0.000	0.155	2384	3468	2054	0	0	0	0	0	0	28.83	14.71	28.83
477	-0.64	-97.8	56.2	-12.4	43	482	0.00	1.77	0.00	0.000	6	0.000	0.098	2384	2402	2054	0	0	0	0	0	0	28.83	14.79	28.83
520	-0.64	-97.8	61.0	-11.2	47	525	0.00	1.77	0.00	0.000	4	0.000	0.096	2384	1342	2054	0	0	0	0	0	0	28.83	14.78	28.83
554	-0.65	-97.8	64.7	-11.4	50	559	0.00	1.90	0.00	0.000	6	0.000	0.139	2377	2401	2053	0	0	0	0	0	0	28.83	14.76	28.83
597	-0.66	-97.8	69.3	-10.6	54	602	0.00	1.90	0.00	0.000	4	0.000	0.157	2369	3462	2053	0	0	0	0	0	0	28.83	14.73	28.83
620	-0.66	-97.8	72.1	-11.2	56	625	0.00	1.77	0.00	0.000	6	0.000	0.098	2369	2391	2053	0	0	0	0	0	0	28.83	14.80	28.83
663	-0.66	-97.8	77.3	-12.0	60	668	0.00	1.75	0.00	0.000	4	0.000	0.098	2369	1344	2052	0	0	0	0	0	0	28.83	14.78	28.83
720	-0.66	-97.8	83.1	-10.7	65	726	0.00	1.90	0.00	0.000	6	0.000	0.141	2362	2403	2052	0	0	0	0	0	0	28.83	14.70	28.83
756	-0.66	-97.8	87.4	-10.9	69	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
790	-0.66	-97.8	90.9	-11.6	72	796	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
826	-0.66	-97.8	95.4	-11.3	76	827	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2053	0	0	0	0	0	0	28.83	28.83	28.83
856	-0.66	-97.8	98.9	-11.5	79	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
886	-0.66	-97.8	102.4	-11.6	82	887	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
916	-0.66	-97.8	106.1	-12.3	85	918	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2402	2052	0	0	0	0	0	0	28.83	28.83	28.83
946	-0.66	-97.8	109.8	-12.1	88	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
976	-0.66	-97.8	113.7	-12.9	91	977	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2403	2052	0	0	0	0	0	0	28.83	28.83	28.83
1006	-0.66	-97.8	117.4	-12.2	94	1011	0.00	1.92	0.00	0.000	4	0.000	0.160	2354	3468	2052	0	0	0	0	0	0	28.83	14.74	28.83
1040	-0.65	-97.8	121.9	-13.5	97	1045	0.00	1.77	0.00	0.000	6	0.000	0.102	2354	2401	2052	0	0	0	0	0	0	28.83	14.82	28.83
1083	-0.65	-97.8	127.4	-12.7	101	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2401	2052	0	0	0	0	0	0	28.83	28.83	28.83
1113	-0.65	-97.8	130.6	-10.7	104	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2401	2052	0	0	0	0	0	0	28.83	28.83	28.83
1143	-0.65	-97.8	134.0	-11.7	107	1148	0.00	1.92	0.00	0.000	4	0.000	0.164	2346	3461	2052	0	0	0	0	0	0	28.83	14.75	28.83
1173	end dive: TARGET_DEPTH_EXCEEDED
state	1173	begin apogee
1182	-0.17	0.0	137.5	-10.4	110	1279	0.68	0.00	90.80	0.767	6	0.257	0.000	2530	2391	1648	0	0	0	0	0	0	14.69	28.83	14.19
1281	end apogee: CONTROL_FINISHED_OK
state	1281	begin climb
1284	0.76	97.8	141.2	0.0	120	1376	0.93	0.00	87.00	0.744	6	0.142	0.000	2834	2391	1248	0	0	0	0	0	0	14.50	28.83	14.07
1406	0.69	97.8	129.0	13.8	133	1411	0.00	1.80	0.00	0.000	4	0.000	0.098	2842	1345	1243	0	0	0	0	0	0	28.83	14.45	28.83
1460	0.63	97.8	120.9	14.8	138	1466	0.17	1.92	0.00	0.000	6	0.277	0.132	2809	2410	1242	0	0	0	0	0	0	14.43	14.50	28.83
1504	0.59	97.8	114.8	13.8	142	1505	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2410	1241	0	0	0	0	0	0	28.83	28.83	28.83
1534	0.55	97.8	111.1	12.5	145	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2412	1241	0	0	0	0	0	0	28.83	28.83	28.83
1564	0.52	97.8	107.2	12.8	148	1566	0.15	0.00	0.00	0.000	6	0.300	0.000	2767	2410	1241	0	0	0	0	0	0	14.51	28.83	28.83
1594	0.50	97.8	103.6	12.2	151	1595	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	2411	1241	0	0	0	0	0	0	28.83	28.83	28.83
1624	0.50	97.8	100.4	11.1	154	1625	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	2411	1240	0	0	0	0	0	0	28.83	28.83	28.83
1654	0.50	97.8	97.1	10.8	157	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	2411	1240	0	0	0	0	0	0	28.83	28.83	28.83
1684	0.50	97.8	93.8	11.0	160	1685	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	2411	1240	0	0	0	0	0	0	28.83	28.83	28.83
1714	0.50	97.8	90.8	10.3	163	1719	0.00	1.83	0.00	0.000	4	0.000	0.101	2773	1344	1240	0	0	0	0	0	0	28.83	14.70	28.83
1838	0.50	97.8	76.1	12.4	175	1843	0.00	1.92	0.00	0.000	6	0.000	0.138	2773	2402	1240	0	0	0	0	0	0	28.83	14.71	28.83
1881	0.50	97.8	70.7	12.3	179	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2402	1239	0	0	0	0	0	0	28.83	28.83	28.83
1911	0.50	97.8	66.9	12.5	182	1912	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2403	1240	0	0	0	0	0	0	28.83	28.83	28.83
1941	0.50	97.8	63.0	12.9	185	1946	0.00	1.80	0.00	0.000	4	0.000	0.103	2780	1345	1239	0	0	0	0	0	0	28.83	14.75	28.83
2015	0.50	99.4	55.4	9.9	192	2020	0.00	1.90	0.00	0.000	6	0.000	0.138	2781	2406	1239	0	0	0	0	0	0	28.83	14.73	28.83
2058	0.50	99.4	51.1	10.0	196	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2406	1239	0	0	0	0	0	0	28.83	28.83	28.83
2088	0.50	100.8	48.1	9.9	199	2089	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2406	1239	0	0	0	0	0	0	28.83	28.83	28.83
2118	0.50	104.6	45.3	9.7	202	2127	0.00	0.00	2.00	0.245	6	0.000	0.000	2781	2406	1224	0	0	0	0	0	0	28.83	28.83	14.62
2158	0.50	120.0	41.7	8.9	206	2169	0.00	0.00	8.73	0.296	6	0.000	0.000	2780	2406	1160	0	0	0	0	0	0	28.83	28.83	14.60
2198	0.50	132.7	38.0	9.1	210	2207	0.00	0.00	7.22	0.288	6	0.000	0.000	2780	2406	1107	0	0	0	0	0	0	28.83	28.83	14.62
2238	0.50	143.1	34.3	9.3	214	2249	0.00	1.90	5.50	0.278	4	0.000	0.106	2788	1336	1067	0	0	0	0	0	0	28.83	14.75	14.64
2439	0.53	143.1	15.3	10.7	233	2446	0.00	1.90	1.30	0.226	6	0.000	0.138	2788	2400	1064	0	0	0	0	0	0	28.83	14.76	14.68
2475	0.54	143.1	11.2	10.2	237	2480	0.00	1.90	0.00	0.000	4	0.000	0.155	2788	3463	1069	0	0	0	0	0	0	28.83	14.73	28.83
2498	0.54	143.1	8.6	10.6	239	2503	0.00	1.77	0.00	0.000	6	0.000	0.101	2796	2401	1070	0	0	0	0	0	0	28.83	14.80	28.83
2541	0.54	145.7	4.3	9.8	243	2552	0.00	1.98	2.03	0.208	4	0.000	0.156	2798	3461	1055	0	0	0	0	0	0	28.83	14.73	14.73
2783	0.62	305.9	3.8	-1.0	266	2828	0.00	1.80	40.50	0.177	2	0.000	0.099	2804	2393	706	0	0	0	0	0	0	28.83	14.81	28.83
2829	end climb: SURFACE_DEPTH_REACHED
state	2829	begin surface coast
2961	end surface coast: CONTROL_FINISHED_OK
state	2961	begin surface