Glider dive log

Shilshole 06May22 * SG204 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 35 ALTIM_FREQUENCY 13

MISSION 4 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 39 ALTIM_PULSE 2

DIVE 3 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 3 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 382.47998 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 150 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 165 CALL_NDIVES 1 C_VBD 2100 INT_PRESSURE_YINT -1.4

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 4 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 0.003 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 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 50 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 65 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

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 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 127.5 SEABIRD_T_G 0.0044052354

D_OFFGRID 150 C_PITCH 2700 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 40 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12102 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 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 0.0035000001 C_ROLL_DIVE 2000 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.01122 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 4.0

HD_C 9.9999997e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING 270 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 100840 SEABIRD_T_G 0.0044052354

AH0_10V 100 ED_PROFILE 7.0 N_NOCOMM 2 SEABIRD_T_H 0.00063728914

AH0_24V 127.5 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5929839e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 4.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-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 382.47998

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 2 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 40 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 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 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0035000001 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HD_B 0.01122 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 HEADING 270 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12102 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 65

COMPASS_DEVICE 33 ID 204 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 -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2700 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 2000 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2100 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 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 3 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 165 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 35 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 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 -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 3 SEABIRD_C_I -0.0031189518

D_TGT 150 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 060522,194850,4744.0435,-12224.2061,1,1.3,3,15.4,0.1,0.0,8,8.0 SPEED_LIMITS 0.173,0.247

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 4744.057,-12240.271

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.53 MHEAD_RNG_PITCHd_Wd 223.8,20000,-18.7,-10.000,-22.01,2232

_SM_ANGLEo -72.7 D_GRID 174

GPS2 060522,195156,4744.0571,-12224.2148,2,1.3,4,15.4,0.1,0.0,8,8.4

Post-dive calculations and measurements:

NEWHEAD 179.300,-0.09,3212.43 _24V_AH 24.51,2.297

FINISH -0.2,1.009915 _10V_AH 10.29,1.346

SM_CCo 3240,148.90,0.718,0,0,540,382.67 FG_AHR_24Vo 0.000

SM_GC 0.54,7.93,0.00,148.90,0.057,0.000,0.718,183,1993,540,-7.71,-0.20,382.67,0,0,0,0,0,0,25.94,25.96,24.60 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4742.17,-12225.08,060522,194657 MEM 287212

TT8_MAMPS 0.023219,0.295855 DATA_FILE_SIZE 20134,568

HUMID 36.49 CAP_FILE_SIZE 99940,0

INTERNAL_PRESSURE 8.38513 CFSIZE 260030464,249724928

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.076,346.87,1

SC_FREEKB 3811776 GPS 060522,205006,4744.086,-12224.280,8,0.9,10,15.4,0.1,0.0,11,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 239 115.91 nil 0 0 0.00

Roll_motor 67 48 79.20 nil 0 0 0.00

VBD_pump_during_apogee 288 811 5731.93 nil 0 0 0.00

VBD_pump_during_surface 148 718 2621.59 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 3214 24 1958.82

Iridium_during_xfer 0 0 0.00 Edison 4405 10 1079.67

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.04

TT8 1453 13 208.95

LPSleep 297 2 6.70

TT8_Active 585 13 79.66

TT8_Sampling 990 39 401.91

TT8_CF8 156 49 80.18

TT8_Kalman 0 0 0.00

Analog_circuits 1109 10 114.22

GPS_charging 0 0 0.00

Compass 891 8 75.57

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.91 -146.6 181 2006 705 364 0.0 0.0 0 113 0.00 0.00 -98.93 0.005 16390 0.000 0.000 181 2007 2698 2671 2725 0 0 0 0 0 0 25.94 25.01 25.96

117 -0.91 -146.6 180 2006 2672 2727 2.0 -2.4 15 133 8.50 2.20 0.00 0.000 2596 0.205 0.030 2396 569 2702 2680 2724 0 0 0 0 0 0 25.75 25.89 25.86

255 -0.55 -146.6 2395 569 2690 2717 25.3 -16.9 40 264 0.38 2.28 0.00 0.000 3206 0.164 0.037 2506 1989 2703 2691 2716 0 0 0 0 0 0 25.79 25.93 25.93

328 -0.41 -146.6 2506 1989 2694 2714 34.5 -12.1 53 337 0.15 2.30 0.00 0.000 2436 0.213 0.044 2533 3417 2703 2694 2713 0 0 0 0 0 0 25.78 25.92 25.89

391 -0.38 -146.6 2532 3418 2695 2712 41.4 -10.1 64 398 0.10 2.20 0.00 0.000 3206 0.232 0.031 2559 1994 2703 2695 2712 0 0 0 0 0 0 25.77 25.94 25.95

464 -0.38 -146.6 2559 1991 2698 2709 47.9 -8.6 77 472 0.00 2.20 0.00 0.000 548 0.000 0.043 2570 590 2704 2699 2710 0 0 0 0 0 0 26.00 25.94 25.97

660 -0.44 -146.6 2569 590 2699 2709 61.9 -7.0 114 666 0.00 2.22 0.00 0.000 1190 0.000 0.037 2562 2003 2704 2700 2709 0 0 0 0 0 0 25.98 25.93 25.98

732 -0.44 -146.6 2560 2002 2700 2708 67.1 -7.5 127 739 0.00 2.22 0.00 0.000 548 0.000 0.041 2570 589 2704 2700 2708 0 0 0 0 0 0 25.96 25.94 25.98

917 -0.51 -146.6 2569 590 2701 2709 80.7 -7.1 162 923 0.00 2.22 0.00 0.000 1190 0.000 0.037 2561 2000 2705 2701 2709 0 0 0 0 0 0 26.00 25.95 26.01

987 -0.53 -146.6 2561 2000 2701 2707 85.5 -6.8 175 994 0.00 2.22 0.00 0.000 676 0.000 0.043 2570 590 2704 2701 2708 0 0 0 0 0 0 25.99 25.93 25.99

1097 -0.61 -146.6 2566 590 2701 2708 92.7 -6.3 195 1105 0.15 2.22 0.00 0.000 5286 0.124 0.037 2508 2003 2702 2697 2708 0 0 0 0 0 0 25.91 25.94 25.98

1170 -0.54 -146.6 2508 2002 2701 2707 98.6 -9.2 208 1177 0.00 2.22 0.00 0.000 420 0.000 0.048 2498 3411 2704 2701 2707 0 0 0 0 0 0 25.98 25.92 25.98

1292 -0.49 -146.6 2497 3411 2701 2706 110.5 -9.5 231 1299 0.10 2.17 0.00 0.000 3238 0.239 0.032 2523 1997 2703 2701 2706 0 0 0 0 0 0 25.76 25.94 25.94

1364 -0.45 -146.6 2522 1994 2701 2706 117.3 -9.3 244 1372 0.08 2.25 0.00 0.000 2468 0.237 0.047 2525 3416 2703 2701 2706 0 0 0 0 0 0 25.77 25.92 25.94

1395 -0.45 -146.6 2525 3416 2700 2706 120.2 -9.0 249 1403 0.00 2.20 0.00 0.000 1062 0.000 0.033 2534 1996 2703 2701 2706 0 0 0 0 0 0 25.96 25.92 25.96

1470 -0.45 -146.6 2533 1993 2701 2705 126.4 -8.1 262 1476 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1993 2704 2702 2706 0 0 0 0 0 0 25.99 25.98 25.97

1541 -0.45 -146.6 2533 1993 2701 2701 132.4 -7.9 275 1549 0.00 0.00 0.00 0.000 38 0.000 0.000 2534 1993 2703 2701 2706 0 0 0 0 0 0 25.96 25.96 25.96

1613 -0.45 -146.6 2533 1993 2701 2706 138.0 -7.9 288 1619 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1993 2703 2701 2706 0 0 0 0 0 0 25.97 25.96 25.96

1686 -0.69 -146.6 2533 1992 2702 2705 142.0 -0.1 301 1694 0.15 2.22 0.00 0.000 4772 0.119 0.043 2493 586 2703 2702 2705 0 0 0 0 0 0 25.90 25.92 25.95

1806 end dive: NO_VERTICAL_VELOCITY

state 1806 begin apogee

1813 -0.12 0.0 2485 2004 2702 2705 142.0 0.0 324 1941 0.55 0.00 121.30 0.812 10246 0.133 0.000 2643 2010 2098 2167 2029 0 0 0 0 0 0 25.80 25.08 24.51

1943 end apogee: CONTROL_FINISHED_OK

state 1943 begin climb

1945 0.91 146.6 2643 2010 2166 2028 141.8 0.0 343 2068 1.05 0.00 117.03 0.783 10502 0.116 0.000 2966 2010 1502 1612 1393 0 0 0 0 0 0 25.13 25.04 24.52

2134 0.81 146.6 2965 2010 1603 1388 121.8 14.6 373 2143 0.00 2.25 0.00 0.000 388 0.000 0.045 2958 3417 1496 1603 1389 0 0 0 0 0 0 25.58 25.56 25.60

2285 0.73 146.6 2957 3418 1595 1388 101.0 13.1 401 2293 0.10 2.22 0.00 0.000 5254 0.239 0.034 2951 1995 1492 1596 1388 0 0 0 0 0 0 25.66 25.80 25.82

2359 0.65 146.6 2950 1994 1595 1389 91.6 13.3 414 2366 0.12 2.22 0.00 0.000 4740 0.193 0.044 2931 590 1491 1594 1388 0 0 0 0 0 0 25.75 25.84 25.85

2385 0.59 146.6 2932 590 1592 1388 88.2 12.7 418 2393 0.08 2.22 0.00 0.000 5254 0.197 0.034 2910 2009 1490 1593 1388 0 0 0 0 0 0 25.75 25.86 25.88

2460 0.60 148.9 2909 2009 1593 1388 80.4 9.9 431 2467 0.00 2.25 0.00 0.000 548 0.000 0.043 2919 586 1491 1594 1388 0 0 0 0 0 0 25.93 25.86 25.94

2566 0.69 167.4 2918 586 1591 1388 70.0 9.2 451 2588 0.00 2.25 17.27 0.716 9382 0.000 0.034 2910 1992 1416 1526 1307 0 0 0 0 0 0 25.93 25.91 25.08

2654 0.77 184.5 2910 1996 1522 1303 61.8 9.2 466 2676 0.08 2.30 16.00 0.709 10916 0.190 0.044 2934 583 1343 1459 1228 0 0 0 0 0 0 25.67 25.56 25.01

2752 0.86 203.0 2934 581 1455 1228 52.0 9.2 483 2776 0.12 2.25 16.52 0.711 11430 0.174 0.035 2954 2011 1269 1390 1149 0 0 0 0 0 0 25.66 25.77 25.00

2840 0.82 203.0 2953 2015 1390 1147 42.0 12.3 498 2847 0.00 2.28 0.00 0.000 644 0.000 0.045 2964 587 1268 1390 1147 0 0 0 0 0 0 25.76 25.72 25.77

2955 0.82 203.0 2964 587 1387 1147 28.3 10.9 520 2962 0.00 2.22 0.00 0.000 1030 0.000 0.034 2955 2006 1266 1386 1147 0 0 0 0 0 0 25.89 25.84 25.90

3027 0.82 203.0 2955 2007 1386 1147 20.3 11.5 533 3035 0.00 2.25 0.00 0.000 516 0.000 0.042 2963 584 1266 1385 1147 0 0 0 0 0 0 25.89 25.86 25.90

3088 0.86 203.0 2964 584 1385 1147 13.5 10.6 544 3096 0.00 2.28 0.00 0.000 1158 0.000 0.036 2955 2002 1266 1385 1147 0 0 0 0 0 0 25.92 25.89 25.93

3158 0.89 203.0 2955 2003 1385 1147 6.0 10.0 557 3166 0.00 2.20 0.00 0.000 388 0.000 0.044 2945 3415 1266 1385 1147 0 0 0 0 0 0 25.95 25.89 25.96

3178 0.93 203.0 2944 3413 1385 1147 3.9 10.4 560 3185 0.12 2.20 0.00 0.000 3206 0.158 0.032 2985 1994 1266 1385 1147 0 0 0 0 0 0 25.84 25.91 25.94

3201 end climb: SURFACE_DEPTH_REACHED

state 3201 begin surface coast

3223 end surface coast: CONTROL_FINISHED_OK

state 3224 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	35	ALTIM_FREQUENCY	13
MISSION	4	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	39	ALTIM_PULSE	2
DIVE	3	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	3	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	382.47998	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	150	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	165	CALL_NDIVES	1	C_VBD	2100	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	4	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	0.003	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	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	50	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	65	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
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	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	127.5	SEABIRD_T_G	0.0044052354
D_OFFGRID	150	C_PITCH	2700	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	40	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12102	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	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	0.0035000001	C_ROLL_DIVE	2000	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.01122	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	4.0
HD_C	9.9999997e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	270	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	060522,194850,4744.0435,-12224.2061,1,1.3,3,15.4,0.1,0.0,8,8.0	SPEED_LIMITS	0.173,0.247
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	4744.057,-12240.271
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.53	MHEAD_RNG_PITCHd_Wd	223.8,20000,-18.7,-10.000,-22.01,2232
_SM_ANGLEo	-72.7	D_GRID	174
GPS2	060522,195156,4744.0571,-12224.2148,2,1.3,4,15.4,0.1,0.0,8,8.4

NEWHEAD	179.300,-0.09,3212.43	_24V_AH	24.51,2.297
FINISH	-0.2,1.009915	_10V_AH	10.29,1.346
SM_CCo	3240,148.90,0.718,0,0,540,382.67	FG_AHR_24Vo	0.000
SM_GC	0.54,7.93,0.00,148.90,0.057,0.000,0.718,183,1993,540,-7.71,-0.20,382.67,0,0,0,0,0,0,25.94,25.96,24.60	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4742.17,-12225.08,060522,194657	MEM	287212
TT8_MAMPS	0.023219,0.295855	DATA_FILE_SIZE	20134,568
HUMID	36.49	CAP_FILE_SIZE	99940,0
INTERNAL_PRESSURE	8.38513	CFSIZE	260030464,249724928
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.076,346.87,1
SC_FREEKB	3811776	GPS	060522,205006,4744.086,-12224.280,8,0.9,10,15.4,0.1,0.0,11,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	239	115.91	nil	0	0	0.00
Roll_motor	67	48	79.20	nil	0	0	0.00
VBD_pump_during_apogee	288	811	5731.93	nil	0	0	0.00
VBD_pump_during_surface	148	718	2621.59	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	3214	24	1958.82
Iridium_during_xfer	0	0	0.00	Edison	4405	10	1079.67
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.04
TT8	1453	13	208.95
LPSleep	297	2	6.70
TT8_Active	585	13	79.66
TT8_Sampling	990	39	401.91
TT8_CF8	156	49	80.18
TT8_Kalman	0	0	0.00
Analog_circuits	1109	10	114.22
GPS_charging	0	0	0.00
Compass	891	8	75.57
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.91	-146.6	181	2006	705	364	0.0	0.0	0	113	0.00	0.00	-98.93	0.005	16390	0.000	0.000	181	2007	2698	2671	2725	0	0	0	0	0	0	25.94	25.01	25.96
117	-0.91	-146.6	180	2006	2672	2727	2.0	-2.4	15	133	8.50	2.20	0.00	0.000	2596	0.205	0.030	2396	569	2702	2680	2724	0	0	0	0	0	0	25.75	25.89	25.86
255	-0.55	-146.6	2395	569	2690	2717	25.3	-16.9	40	264	0.38	2.28	0.00	0.000	3206	0.164	0.037	2506	1989	2703	2691	2716	0	0	0	0	0	0	25.79	25.93	25.93
328	-0.41	-146.6	2506	1989	2694	2714	34.5	-12.1	53	337	0.15	2.30	0.00	0.000	2436	0.213	0.044	2533	3417	2703	2694	2713	0	0	0	0	0	0	25.78	25.92	25.89
391	-0.38	-146.6	2532	3418	2695	2712	41.4	-10.1	64	398	0.10	2.20	0.00	0.000	3206	0.232	0.031	2559	1994	2703	2695	2712	0	0	0	0	0	0	25.77	25.94	25.95
464	-0.38	-146.6	2559	1991	2698	2709	47.9	-8.6	77	472	0.00	2.20	0.00	0.000	548	0.000	0.043	2570	590	2704	2699	2710	0	0	0	0	0	0	26.00	25.94	25.97
660	-0.44	-146.6	2569	590	2699	2709	61.9	-7.0	114	666	0.00	2.22	0.00	0.000	1190	0.000	0.037	2562	2003	2704	2700	2709	0	0	0	0	0	0	25.98	25.93	25.98
732	-0.44	-146.6	2560	2002	2700	2708	67.1	-7.5	127	739	0.00	2.22	0.00	0.000	548	0.000	0.041	2570	589	2704	2700	2708	0	0	0	0	0	0	25.96	25.94	25.98
917	-0.51	-146.6	2569	590	2701	2709	80.7	-7.1	162	923	0.00	2.22	0.00	0.000	1190	0.000	0.037	2561	2000	2705	2701	2709	0	0	0	0	0	0	26.00	25.95	26.01
987	-0.53	-146.6	2561	2000	2701	2707	85.5	-6.8	175	994	0.00	2.22	0.00	0.000	676	0.000	0.043	2570	590	2704	2701	2708	0	0	0	0	0	0	25.99	25.93	25.99
1097	-0.61	-146.6	2566	590	2701	2708	92.7	-6.3	195	1105	0.15	2.22	0.00	0.000	5286	0.124	0.037	2508	2003	2702	2697	2708	0	0	0	0	0	0	25.91	25.94	25.98
1170	-0.54	-146.6	2508	2002	2701	2707	98.6	-9.2	208	1177	0.00	2.22	0.00	0.000	420	0.000	0.048	2498	3411	2704	2701	2707	0	0	0	0	0	0	25.98	25.92	25.98
1292	-0.49	-146.6	2497	3411	2701	2706	110.5	-9.5	231	1299	0.10	2.17	0.00	0.000	3238	0.239	0.032	2523	1997	2703	2701	2706	0	0	0	0	0	0	25.76	25.94	25.94
1364	-0.45	-146.6	2522	1994	2701	2706	117.3	-9.3	244	1372	0.08	2.25	0.00	0.000	2468	0.237	0.047	2525	3416	2703	2701	2706	0	0	0	0	0	0	25.77	25.92	25.94
1395	-0.45	-146.6	2525	3416	2700	2706	120.2	-9.0	249	1403	0.00	2.20	0.00	0.000	1062	0.000	0.033	2534	1996	2703	2701	2706	0	0	0	0	0	0	25.96	25.92	25.96
1470	-0.45	-146.6	2533	1993	2701	2705	126.4	-8.1	262	1476	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1993	2704	2702	2706	0	0	0	0	0	0	25.99	25.98	25.97
1541	-0.45	-146.6	2533	1993	2701	2701	132.4	-7.9	275	1549	0.00	0.00	0.00	0.000	38	0.000	0.000	2534	1993	2703	2701	2706	0	0	0	0	0	0	25.96	25.96	25.96
1613	-0.45	-146.6	2533	1993	2701	2706	138.0	-7.9	288	1619	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1993	2703	2701	2706	0	0	0	0	0	0	25.97	25.96	25.96
1686	-0.69	-146.6	2533	1992	2702	2705	142.0	-0.1	301	1694	0.15	2.22	0.00	0.000	4772	0.119	0.043	2493	586	2703	2702	2705	0	0	0	0	0	0	25.90	25.92	25.95
1806	end dive: NO_VERTICAL_VELOCITY
state	1806	begin apogee
1813	-0.12	0.0	2485	2004	2702	2705	142.0	0.0	324	1941	0.55	0.00	121.30	0.812	10246	0.133	0.000	2643	2010	2098	2167	2029	0	0	0	0	0	0	25.80	25.08	24.51
1943	end apogee: CONTROL_FINISHED_OK
state	1943	begin climb
1945	0.91	146.6	2643	2010	2166	2028	141.8	0.0	343	2068	1.05	0.00	117.03	0.783	10502	0.116	0.000	2966	2010	1502	1612	1393	0	0	0	0	0	0	25.13	25.04	24.52
2134	0.81	146.6	2965	2010	1603	1388	121.8	14.6	373	2143	0.00	2.25	0.00	0.000	388	0.000	0.045	2958	3417	1496	1603	1389	0	0	0	0	0	0	25.58	25.56	25.60
2285	0.73	146.6	2957	3418	1595	1388	101.0	13.1	401	2293	0.10	2.22	0.00	0.000	5254	0.239	0.034	2951	1995	1492	1596	1388	0	0	0	0	0	0	25.66	25.80	25.82
2359	0.65	146.6	2950	1994	1595	1389	91.6	13.3	414	2366	0.12	2.22	0.00	0.000	4740	0.193	0.044	2931	590	1491	1594	1388	0	0	0	0	0	0	25.75	25.84	25.85
2385	0.59	146.6	2932	590	1592	1388	88.2	12.7	418	2393	0.08	2.22	0.00	0.000	5254	0.197	0.034	2910	2009	1490	1593	1388	0	0	0	0	0	0	25.75	25.86	25.88
2460	0.60	148.9	2909	2009	1593	1388	80.4	9.9	431	2467	0.00	2.25	0.00	0.000	548	0.000	0.043	2919	586	1491	1594	1388	0	0	0	0	0	0	25.93	25.86	25.94
2566	0.69	167.4	2918	586	1591	1388	70.0	9.2	451	2588	0.00	2.25	17.27	0.716	9382	0.000	0.034	2910	1992	1416	1526	1307	0	0	0	0	0	0	25.93	25.91	25.08
2654	0.77	184.5	2910	1996	1522	1303	61.8	9.2	466	2676	0.08	2.30	16.00	0.709	10916	0.190	0.044	2934	583	1343	1459	1228	0	0	0	0	0	0	25.67	25.56	25.01
2752	0.86	203.0	2934	581	1455	1228	52.0	9.2	483	2776	0.12	2.25	16.52	0.711	11430	0.174	0.035	2954	2011	1269	1390	1149	0	0	0	0	0	0	25.66	25.77	25.00
2840	0.82	203.0	2953	2015	1390	1147	42.0	12.3	498	2847	0.00	2.28	0.00	0.000	644	0.000	0.045	2964	587	1268	1390	1147	0	0	0	0	0	0	25.76	25.72	25.77
2955	0.82	203.0	2964	587	1387	1147	28.3	10.9	520	2962	0.00	2.22	0.00	0.000	1030	0.000	0.034	2955	2006	1266	1386	1147	0	0	0	0	0	0	25.89	25.84	25.90
3027	0.82	203.0	2955	2007	1386	1147	20.3	11.5	533	3035	0.00	2.25	0.00	0.000	516	0.000	0.042	2963	584	1266	1385	1147	0	0	0	0	0	0	25.89	25.86	25.90
3088	0.86	203.0	2964	584	1385	1147	13.5	10.6	544	3096	0.00	2.28	0.00	0.000	1158	0.000	0.036	2955	2002	1266	1385	1147	0	0	0	0	0	0	25.92	25.89	25.93
3158	0.89	203.0	2955	2003	1385	1147	6.0	10.0	557	3166	0.00	2.20	0.00	0.000	388	0.000	0.044	2945	3415	1266	1385	1147	0	0	0	0	0	0	25.95	25.89	25.96
3178	0.93	203.0	2944	3413	1385	1147	3.9	10.4	560	3185	0.12	2.20	0.00	0.000	3206	0.158	0.032	2985	1994	1266	1385	1147	0	0	0	0	0	0	25.84	25.91	25.94
3201	end climb: SURFACE_DEPTH_REACHED
state	3201	begin surface coast
3223	end surface coast: CONTROL_FINISHED_OK
state	3224	begin surface