Glider dive log

Shilshole 06May22 * SG203 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 100 ALTIM_FREQUENCY 13

MISSION 4 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 43 ALTIM_PULSE 3

DIVE 1 TGT_DEFAULT_LAT 4917.6001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 1 TGT_DEFAULT_LON -12401.1 ROLL_MAXERRORS 1 XPDR_VALID 1

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 3 SM_CC 517.14972 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 2 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 150 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 175 CALL_NDIVES 1 C_VBD 2649 INT_PRESSURE_YINT 0.94

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 2 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 200000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 50 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 65 T_GPS 5 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 97

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 202 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3901 AH0_24V 150 SEABIRD_T_G 0.0044055558

D_OFFGRID 150 C_PITCH 2400 AH0_10V 97 SEABIRD_T_H 0.0006414348

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5976229e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1916948e-06

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_G -10.181061

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1918633

COURSE_BIAS 0 PITCH_GAIN 30 FG_AHR_10V 0 SEABIRD_C_I -0.0014478294

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00020459475

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -167.64668 SC_PROFILE 3.0

MASS 54910 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00013992 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 302 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3859 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0026760499 C_ROLL_DIVE 2100 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0099998498 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 0.0

HD_C 9.6900003e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 32 ED_NDIVE 1.0 N_GPS 100440 SEABIRD_T_G 0.0044055558

AH0_10V 97 ED_PROFILE 7.0 N_NOCOMM 2 SEABIRD_T_H 0.0006414348

AH0_24V 150 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5976229e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 0.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1916948e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 517.14972

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 30 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3901 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 202 TGT_DEFAULT_LAT 4917.6001

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12401.1

CALL_TRIES 5 HD_A 0.0026760499 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0099998498 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 200000 HD_C 9.6900003e-06 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00013992 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -167.64668 T_GPS 5

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_MISSION 65

COMPASS_DEVICE 97 ID 203 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

C_VBD 2649 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MASS 54910 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 1 MASS_COMP 0 ROLL_MIN 302 VBD_MIN 500

D_ABORT 175 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 0.60000002 R_PORT_OVSHOOT 100 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 43 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 2 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 MISSION 4 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 150 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.181061 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1918633 XPDR_VALID 1

D_SURF 3 N_DIVES 1 SEABIRD_C_I -0.0014478294

D_TGT 150 N_FILEKB 8 SEABIRD_C_J 0.00020459475

Pre-dive calculations and measurements:

GPS1 060522,170910,4743.6304,-12224.8516,1,0.9,1,15.4,0.4,30.9,9,7.5 SPEED_LIMITS 0.173,0.259

_CALLS 1 TGT_NAME SW

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 174.1,1221,-17.1,-10.000,-21.10,2220

_SM_ANGLEo -63.0 D_GRID 175

GPS2 060522,171224,4743.6504,-12224.8369,2,0.9,4,15.4,0.2,0.0,9,8.1

Post-dive calculations and measurements:

NEWHEAD 163.500,0.37,2870.87 _24V_AH 24.13,2.134

FINISH 0.4,1.007442 _10V_AH 10.25,1.128

SM_CCo 2895,146.90,0.643,0,0,539,517.34 FG_AHR_24Vo 0.000

SM_GC 1.26,6.90,0.15,146.90,0.028,0.068,0.643,172,2141,539,-6.83,-1.07,517.34,0,0,0,0,0,0,25.25,25.23,24.19 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.69,-12212.55,060522,170724 MEM 287304

TT8_MAMPS 0.026964,0.305592 DATA_FILE_SIZE 16771,501

HUMID 39.32 CAP_FILE_SIZE 114983,0

INTERNAL_PRESSURE 8.47904 CFSIZE 1024393216,1020772352

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.096,22.81,1

SC_FREEKB 7902496 GPS 060522,180501,4743.649,-12224.559,16,1.1,17,15.4,0.2,0.0,6,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 195 80.49 nil 0 0 0.00

Roll_motor 56 101 138.59 nil 0 0 0.00

VBD_pump_during_apogee 383 741 6862.43 nil 0 0 0.00

VBD_pump_during_surface 146 642 2277.82 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 2868 25 1790.12

Iridium_during_xfer 0 0 0.00 Edison 0 10 0.00

Transponder_ping 0 420 5.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 1.91

TT8 1243 15 203.46

LPSleep 222 2 4.99

TT8_Active 671 15 104.79

TT8_Sampling 903 42 390.45

TT8_CF8 101 59 61.52

TT8_Kalman 0 0 0.00

Analog_circuits 1155 11 130.25

GPS_charging 0 0 0.00

Compass 808 8 68.30

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.75 -146.6 175 2063 631 446 0.0 0.0 0 118 0.00 0.00 -102.88 0.003 16386 0.000 0.000 175 2063 3087 3182 2992 0 0 0 0 0 0 25.39 28.83 25.42

121 -0.75 -146.6 174 2063 3183 2994 3.4 -3.6 16 138 7.15 2.28 -3.45 0.019 18724 0.195 0.045 2141 3515 3248 3357 3140 0 0 0 0 0 0 25.21 24.51 25.32

252 -0.50 -146.6 2141 3514 3359 3140 37.8 -22.3 40 259 0.32 2.05 0.00 0.000 3206 0.139 0.023 2235 2134 3251 3363 3140 0 0 0 0 0 0 25.29 25.38 25.39

324 -0.44 -146.6 2234 2125 3359 3140 50.5 -15.7 53 332 0.00 2.12 0.00 0.000 388 0.000 0.038 2226 3504 3249 3358 3140 0 0 0 0 0 0 25.37 25.37 25.40

339 -0.38 -146.6 2225 3504 3358 3140 53.1 -15.5 55 347 0.17 2.10 0.00 0.000 3206 0.129 0.024 2276 2111 3250 3359 3141 0 0 0 0 0 0 25.31 25.40 25.39

413 -0.40 -146.6 2276 2110 3359 3140 62.1 -11.5 68 419 0.00 0.00 0.00 0.000 134 0.000 0.000 2276 2110 3249 3359 3140 0 0 0 0 0 0 25.38 25.42 25.41

484 -0.43 -146.6 2277 2110 3360 3143 70.2 -11.2 81 492 0.00 0.00 0.00 0.000 134 0.000 0.000 2276 2109 3249 3359 3140 0 0 0 0 0 0 25.39 25.42 25.41

556 -0.45 -146.6 2276 2107 3359 3146 78.4 -11.6 94 564 0.00 2.17 0.00 0.000 388 0.000 0.041 2267 3505 3249 3359 3140 0 0 0 0 0 0 25.38 25.37 25.41

616 -0.50 -146.6 2266 3505 3359 3140 85.5 -11.5 105 624 0.00 2.12 0.00 0.000 1158 0.000 0.025 2267 2101 3249 3359 3140 0 0 0 0 0 0 25.42 25.39 25.42

689 -0.53 -146.6 2266 2101 3359 3140 94.3 -12.3 118 696 0.12 0.00 0.00 0.000 4230 0.091 0.000 2207 2096 3249 3359 3140 0 0 0 0 0 0 25.37 25.42 25.41

762 -0.46 -146.6 2207 2096 3359 3140 105.9 -17.0 131 770 0.15 2.15 0.00 0.000 2692 0.135 0.031 2254 690 3249 3359 3140 0 0 0 0 0 0 25.30 25.38 25.37

783 -0.42 -146.6 2253 690 3359 3141 109.5 -16.8 134 790 0.00 2.17 0.00 0.000 1158 0.000 0.031 2245 2104 3249 3359 3140 0 0 0 0 0 0 25.41 25.39 25.42

852 -0.42 -146.6 2245 2104 3359 3140 119.6 -14.3 147 860 0.00 2.15 0.00 0.000 260 0.000 0.041 2234 3502 3249 3359 3140 0 0 0 0 0 0 25.38 25.36 25.41

927 -0.42 -146.6 2234 3502 3358 3140 130.5 -14.3 161 935 0.00 2.12 0.00 0.000 1030 0.000 0.025 2234 2102 3249 3358 3140 0 0 0 0 0 0 25.41 25.39 25.41

1001 -0.42 -146.6 2234 2100 3358 3140 141.2 -15.4 174 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2101 3249 3358 3140 0 0 0 0 0 0 25.36 25.41 25.40

1058 end dive: TARGET_DEPTH_EXCEEDED

state 1058 begin apogee

1063 -0.17 0.0 2235 1949 3359 3140 150.1 -14.2 185 1189 0.32 0.08 115.32 0.741 10246 0.109 0.102 2344 2019 2648 2737 2560 0 0 0 0 0 0 25.33 24.61 24.15

1192 end apogee: CONTROL_FINISHED_OK

state 1192 begin climb

1194 0.75 146.6 2344 2019 2737 2560 160.6 0.0 204 1322 0.85 2.17 114.65 0.731 11012 0.084 0.040 2634 3381 2050 2145 1955 0 0 0 0 0 0 24.76 24.59 24.13

1552 0.89 257.3 2633 3381 2145 1945 149.6 4.9 267 1648 0.12 2.10 84.72 0.719 11302 0.080 0.027 2718 1999 1600 1699 1502 0 0 0 0 0 0 25.32 25.32 24.18

1711 0.83 257.3 2719 1998 1695 1495 134.9 11.7 293 1719 0.15 0.00 0.00 0.000 4230 0.132 0.000 2672 1998 1594 1695 1494 0 0 0 0 0 0 25.03 25.10 25.07

1785 0.88 285.7 2670 2002 1696 1491 128.3 8.7 306 1813 0.00 2.28 22.60 0.688 8868 0.000 0.038 2680 596 1484 1580 1389 0 0 0 0 0 0 25.21 24.93 24.46

1846 0.98 319.7 2679 596 1579 1389 123.0 8.4 316 1882 0.10 2.15 28.10 0.690 11430 0.090 0.029 2747 1983 1345 1430 1260 0 0 0 0 0 0 25.09 25.09 24.35

1946 0.91 319.7 2747 1983 1426 1258 110.9 13.3 333 1954 0.15 2.22 0.00 0.000 4484 0.129 0.039 2696 3404 1342 1426 1258 0 0 0 0 0 0 25.07 25.10 25.11

2042 0.91 319.7 2696 3404 1426 1256 98.7 12.1 351 2049 0.00 2.15 0.00 0.000 1030 0.000 0.028 2705 2001 1340 1426 1255 0 0 0 0 0 0 25.29 25.25 25.29

2114 0.91 319.7 2704 2001 1426 1254 90.2 11.9 364 2122 0.00 2.17 0.00 0.000 516 0.000 0.039 2717 592 1339 1425 1254 0 0 0 0 0 0 25.28 25.29 25.34

2199 0.94 319.7 2719 591 1424 1250 79.9 10.8 380 2206 0.00 2.17 0.00 0.000 1158 0.000 0.029 2716 2011 1339 1425 1254 0 0 0 0 0 0 25.36 25.32 25.37

2270 0.94 319.7 2715 2011 1424 1254 71.0 13.7 393 2278 0.00 2.12 0.00 0.000 260 0.000 0.041 2716 3393 1339 1425 1254 0 0 0 0 0 0 25.34 25.32 25.38

2392 0.94 319.7 2715 3393 1428 1254 54.0 13.7 416 2398 0.00 2.12 0.00 0.000 1030 0.000 0.029 2725 2001 1338 1424 1253 0 0 0 0 0 0 25.39 25.36 25.39

2462 0.91 319.7 2725 2000 1424 1254 45.1 12.8 429 2471 0.12 2.20 0.00 0.000 4484 0.141 0.038 2690 3404 1338 1424 1253 0 0 0 0 0 0 25.30 25.34 25.37

2509 0.95 319.7 2690 3404 1424 1253 39.4 11.1 437 2517 0.00 2.15 0.00 0.000 1158 0.000 0.029 2698 1993 1338 1423 1253 0 0 0 0 0 0 25.42 25.37 25.40

2582 0.99 319.7 2697 1993 1420 1252 32.1 10.2 450 2590 0.00 2.15 0.00 0.000 644 0.000 0.040 2707 600 1338 1423 1253 0 0 0 0 0 0 25.34 25.36 25.37

2633 1.08 325.2 2706 600 1423 1253 27.0 9.7 459 2648 0.12 2.15 4.68 0.539 11430 0.079 0.031 2786 1995 1324 1409 1239 0 0 0 0 0 0 25.37 25.36 24.77

2713 1.00 325.2 2786 1994 1408 1238 16.2 14.5 473 2722 0.20 2.17 0.00 0.000 4740 0.123 0.037 2732 603 1323 1408 1238 0 0 0 0 0 0 25.28 25.32 25.32

2755 1.09 325.2 2731 603 1408 1238 11.0 10.6 480 2762 0.00 2.15 0.00 0.000 1158 0.000 0.031 2731 1999 1323 1408 1238 0 0 0 0 0 0 25.38 25.35 25.37

2828 1.17 346.7 2731 1999 1408 1238 4.0 9.0 493 2844 0.12 0.00 13.57 0.627 10914 0.079 0.000 2810 1999 1263 1347 1179 0 0 0 0 0 0 25.35 28.83 25.38

2845 end climb: SURFACE_DEPTH_REACHED

state 2845 begin surface coast

2876 end surface coast: CONTROL_FINISHED_OK

state 2876 begin surface

ID	203	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	100	ALTIM_FREQUENCY	13
MISSION	4	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	43	ALTIM_PULSE	3
DIVE	1	TGT_DEFAULT_LAT	4917.6001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	1	TGT_DEFAULT_LON	-12401.1	ROLL_MAXERRORS	1	XPDR_VALID	1
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	3	SM_CC	517.14972	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	2	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	150	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	175	CALL_NDIVES	1	C_VBD	2649	INT_PRESSURE_YINT	0.94
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	2	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	200000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	50	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	65	T_GPS	5	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	97
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	202	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3901	AH0_24V	150	SEABIRD_T_G	0.0044055558
D_OFFGRID	150	C_PITCH	2400	AH0_10V	97	SEABIRD_T_H	0.0006414348
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5976229e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1916948e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_G	-10.181061
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1918633
COURSE_BIAS	0	PITCH_GAIN	30	FG_AHR_10V	0	SEABIRD_C_I	-0.0014478294
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00020459475
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-167.64668	SC_PROFILE	3.0
MASS	54910	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00013992	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	302	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3859	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0026760499	C_ROLL_DIVE	2100	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0099998498	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	0.0
HD_C	9.6900003e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	060522,170910,4743.6304,-12224.8516,1,0.9,1,15.4,0.4,30.9,9,7.5	SPEED_LIMITS	0.173,0.259
_CALLS	1	TGT_NAME	SW
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	174.1,1221,-17.1,-10.000,-21.10,2220
_SM_ANGLEo	-63.0	D_GRID	175
GPS2	060522,171224,4743.6504,-12224.8369,2,0.9,4,15.4,0.2,0.0,9,8.1

NEWHEAD	163.500,0.37,2870.87	_24V_AH	24.13,2.134
FINISH	0.4,1.007442	_10V_AH	10.25,1.128
SM_CCo	2895,146.90,0.643,0,0,539,517.34	FG_AHR_24Vo	0.000
SM_GC	1.26,6.90,0.15,146.90,0.028,0.068,0.643,172,2141,539,-6.83,-1.07,517.34,0,0,0,0,0,0,25.25,25.23,24.19	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.69,-12212.55,060522,170724	MEM	287304
TT8_MAMPS	0.026964,0.305592	DATA_FILE_SIZE	16771,501
HUMID	39.32	CAP_FILE_SIZE	114983,0
INTERNAL_PRESSURE	8.47904	CFSIZE	1024393216,1020772352
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.096,22.81,1
SC_FREEKB	7902496	GPS	060522,180501,4743.649,-12224.559,16,1.1,17,15.4,0.2,0.0,6,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	195	80.49	nil	0	0	0.00
Roll_motor	56	101	138.59	nil	0	0	0.00
VBD_pump_during_apogee	383	741	6862.43	nil	0	0	0.00
VBD_pump_during_surface	146	642	2277.82	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	2868	25	1790.12
Iridium_during_xfer	0	0	0.00	Edison	0	10	0.00
Transponder_ping	0	420	5.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	1.91
TT8	1243	15	203.46
LPSleep	222	2	4.99
TT8_Active	671	15	104.79
TT8_Sampling	903	42	390.45
TT8_CF8	101	59	61.52
TT8_Kalman	0	0	0.00
Analog_circuits	1155	11	130.25
GPS_charging	0	0	0.00
Compass	808	8	68.30
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.75	-146.6	175	2063	631	446	0.0	0.0	0	118	0.00	0.00	-102.88	0.003	16386	0.000	0.000	175	2063	3087	3182	2992	0	0	0	0	0	0	25.39	28.83	25.42
121	-0.75	-146.6	174	2063	3183	2994	3.4	-3.6	16	138	7.15	2.28	-3.45	0.019	18724	0.195	0.045	2141	3515	3248	3357	3140	0	0	0	0	0	0	25.21	24.51	25.32
252	-0.50	-146.6	2141	3514	3359	3140	37.8	-22.3	40	259	0.32	2.05	0.00	0.000	3206	0.139	0.023	2235	2134	3251	3363	3140	0	0	0	0	0	0	25.29	25.38	25.39
324	-0.44	-146.6	2234	2125	3359	3140	50.5	-15.7	53	332	0.00	2.12	0.00	0.000	388	0.000	0.038	2226	3504	3249	3358	3140	0	0	0	0	0	0	25.37	25.37	25.40
339	-0.38	-146.6	2225	3504	3358	3140	53.1	-15.5	55	347	0.17	2.10	0.00	0.000	3206	0.129	0.024	2276	2111	3250	3359	3141	0	0	0	0	0	0	25.31	25.40	25.39
413	-0.40	-146.6	2276	2110	3359	3140	62.1	-11.5	68	419	0.00	0.00	0.00	0.000	134	0.000	0.000	2276	2110	3249	3359	3140	0	0	0	0	0	0	25.38	25.42	25.41
484	-0.43	-146.6	2277	2110	3360	3143	70.2	-11.2	81	492	0.00	0.00	0.00	0.000	134	0.000	0.000	2276	2109	3249	3359	3140	0	0	0	0	0	0	25.39	25.42	25.41
556	-0.45	-146.6	2276	2107	3359	3146	78.4	-11.6	94	564	0.00	2.17	0.00	0.000	388	0.000	0.041	2267	3505	3249	3359	3140	0	0	0	0	0	0	25.38	25.37	25.41
616	-0.50	-146.6	2266	3505	3359	3140	85.5	-11.5	105	624	0.00	2.12	0.00	0.000	1158	0.000	0.025	2267	2101	3249	3359	3140	0	0	0	0	0	0	25.42	25.39	25.42
689	-0.53	-146.6	2266	2101	3359	3140	94.3	-12.3	118	696	0.12	0.00	0.00	0.000	4230	0.091	0.000	2207	2096	3249	3359	3140	0	0	0	0	0	0	25.37	25.42	25.41
762	-0.46	-146.6	2207	2096	3359	3140	105.9	-17.0	131	770	0.15	2.15	0.00	0.000	2692	0.135	0.031	2254	690	3249	3359	3140	0	0	0	0	0	0	25.30	25.38	25.37
783	-0.42	-146.6	2253	690	3359	3141	109.5	-16.8	134	790	0.00	2.17	0.00	0.000	1158	0.000	0.031	2245	2104	3249	3359	3140	0	0	0	0	0	0	25.41	25.39	25.42
852	-0.42	-146.6	2245	2104	3359	3140	119.6	-14.3	147	860	0.00	2.15	0.00	0.000	260	0.000	0.041	2234	3502	3249	3359	3140	0	0	0	0	0	0	25.38	25.36	25.41
927	-0.42	-146.6	2234	3502	3358	3140	130.5	-14.3	161	935	0.00	2.12	0.00	0.000	1030	0.000	0.025	2234	2102	3249	3358	3140	0	0	0	0	0	0	25.41	25.39	25.41
1001	-0.42	-146.6	2234	2100	3358	3140	141.2	-15.4	174	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2101	3249	3358	3140	0	0	0	0	0	0	25.36	25.41	25.40
1058	end dive: TARGET_DEPTH_EXCEEDED
state	1058	begin apogee
1063	-0.17	0.0	2235	1949	3359	3140	150.1	-14.2	185	1189	0.32	0.08	115.32	0.741	10246	0.109	0.102	2344	2019	2648	2737	2560	0	0	0	0	0	0	25.33	24.61	24.15
1192	end apogee: CONTROL_FINISHED_OK
state	1192	begin climb
1194	0.75	146.6	2344	2019	2737	2560	160.6	0.0	204	1322	0.85	2.17	114.65	0.731	11012	0.084	0.040	2634	3381	2050	2145	1955	0	0	0	0	0	0	24.76	24.59	24.13
1552	0.89	257.3	2633	3381	2145	1945	149.6	4.9	267	1648	0.12	2.10	84.72	0.719	11302	0.080	0.027	2718	1999	1600	1699	1502	0	0	0	0	0	0	25.32	25.32	24.18
1711	0.83	257.3	2719	1998	1695	1495	134.9	11.7	293	1719	0.15	0.00	0.00	0.000	4230	0.132	0.000	2672	1998	1594	1695	1494	0	0	0	0	0	0	25.03	25.10	25.07
1785	0.88	285.7	2670	2002	1696	1491	128.3	8.7	306	1813	0.00	2.28	22.60	0.688	8868	0.000	0.038	2680	596	1484	1580	1389	0	0	0	0	0	0	25.21	24.93	24.46
1846	0.98	319.7	2679	596	1579	1389	123.0	8.4	316	1882	0.10	2.15	28.10	0.690	11430	0.090	0.029	2747	1983	1345	1430	1260	0	0	0	0	0	0	25.09	25.09	24.35
1946	0.91	319.7	2747	1983	1426	1258	110.9	13.3	333	1954	0.15	2.22	0.00	0.000	4484	0.129	0.039	2696	3404	1342	1426	1258	0	0	0	0	0	0	25.07	25.10	25.11
2042	0.91	319.7	2696	3404	1426	1256	98.7	12.1	351	2049	0.00	2.15	0.00	0.000	1030	0.000	0.028	2705	2001	1340	1426	1255	0	0	0	0	0	0	25.29	25.25	25.29
2114	0.91	319.7	2704	2001	1426	1254	90.2	11.9	364	2122	0.00	2.17	0.00	0.000	516	0.000	0.039	2717	592	1339	1425	1254	0	0	0	0	0	0	25.28	25.29	25.34
2199	0.94	319.7	2719	591	1424	1250	79.9	10.8	380	2206	0.00	2.17	0.00	0.000	1158	0.000	0.029	2716	2011	1339	1425	1254	0	0	0	0	0	0	25.36	25.32	25.37
2270	0.94	319.7	2715	2011	1424	1254	71.0	13.7	393	2278	0.00	2.12	0.00	0.000	260	0.000	0.041	2716	3393	1339	1425	1254	0	0	0	0	0	0	25.34	25.32	25.38
2392	0.94	319.7	2715	3393	1428	1254	54.0	13.7	416	2398	0.00	2.12	0.00	0.000	1030	0.000	0.029	2725	2001	1338	1424	1253	0	0	0	0	0	0	25.39	25.36	25.39
2462	0.91	319.7	2725	2000	1424	1254	45.1	12.8	429	2471	0.12	2.20	0.00	0.000	4484	0.141	0.038	2690	3404	1338	1424	1253	0	0	0	0	0	0	25.30	25.34	25.37
2509	0.95	319.7	2690	3404	1424	1253	39.4	11.1	437	2517	0.00	2.15	0.00	0.000	1158	0.000	0.029	2698	1993	1338	1423	1253	0	0	0	0	0	0	25.42	25.37	25.40
2582	0.99	319.7	2697	1993	1420	1252	32.1	10.2	450	2590	0.00	2.15	0.00	0.000	644	0.000	0.040	2707	600	1338	1423	1253	0	0	0	0	0	0	25.34	25.36	25.37
2633	1.08	325.2	2706	600	1423	1253	27.0	9.7	459	2648	0.12	2.15	4.68	0.539	11430	0.079	0.031	2786	1995	1324	1409	1239	0	0	0	0	0	0	25.37	25.36	24.77
2713	1.00	325.2	2786	1994	1408	1238	16.2	14.5	473	2722	0.20	2.17	0.00	0.000	4740	0.123	0.037	2732	603	1323	1408	1238	0	0	0	0	0	0	25.28	25.32	25.32
2755	1.09	325.2	2731	603	1408	1238	11.0	10.6	480	2762	0.00	2.15	0.00	0.000	1158	0.000	0.031	2731	1999	1323	1408	1238	0	0	0	0	0	0	25.38	25.35	25.37
2828	1.17	346.7	2731	1999	1408	1238	4.0	9.0	493	2844	0.12	0.00	13.57	0.627	10914	0.079	0.000	2810	1999	1263	1347	1179	0	0	0	0	0	0	25.35	28.83	25.38
2845	end climb: SURFACE_DEPTH_REACHED
state	2845	begin surface coast
2876	end surface coast: CONTROL_FINISHED_OK
state	2876	begin surface