Glider dive log

Shilshole 27Jun12 * SG181 * Dive index * Mission links * Dive 6 * 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 6 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 11 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 -43555.035 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 -43555.035

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 25 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_STBD_OVSHOOT 11 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 6 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 270612,203408,4742.821,-12224.614,25,2.4,44,18.2 TGT_NAME NW

_CALLS 4 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,0.214

_SM_DEPTHo 1.66 KALMAN_X 127.6,87.6,78.7,-212.3,-14.5

_SM_ANGLEo -74.7 KALMAN_Y -129.1,-219.4,-177.1,1251.5,126.2

GPS2 270612,204958,4742.899,-12224.629,10,2.2,29,18.2 MHEAD_RNG_PITCHd_Wd 335.2,1866,-21.7,-10.000

SPEED_LIMITS 0.084,0.216 D_GRID 178

Post-dive calculations and measurements:

FINISH 2.1,1.017232 _24V_AH 13.6,0.840

SM_CCo 2914,43.53,0.169,0,0,464,290.19 _10V_AH 13.4,0.509

SM_GC 1.34,7.75,1.95,43.53,0.114,0.132,0.169,220,2410,464,-7.37,-0.23,290.19,0,0,0,0,0,0,14.76,14.75,14.70 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-11933.99,270612,202010 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 323348

HUMID 45.51 DATA_FILE_SIZE 10157,278

INTERNAL_PRESSURE 8.95542 CAP_FILE_SIZE 101071,0

TCM_TEMP 19.40 CFSIZE 260165632,257007616

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

ALTIM_BOTTOM_PING 130.1,60.9 GPS 270612,214246,4743.308,-12224.644,82,3.6,101,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 436 125.50 nil 0 0 0.00

Roll_motor 48 175 114.78 nil 0 0 0.00

VBD_pump_during_apogee 237 1444 4661.72 nil 0 0 0.00

VBD_pump_during_surface 43 169 100.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 162.60 nil 0 0 0.00

Iridium_during_connect 240 160 523.89 SciCon 2901 22 901.44

Iridium_during_xfer 210 223 639.67 nil 0 0 0.00

Transponder_ping 1 420 8.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 22.17

TT8 911 19 241.89

LPSleep 1133 2 33.26

TT8_Active 375 19 99.71

TT8_Sampling 1258 39 671.30

TT8_CF8 244 45 150.27

TT8_Kalman 33 81 36.41

Analog_circuits 808 12 130.01

GPS_charging 0 0 0.00

Compass 626 5 41.95

RAFOS 0 0 0.00

Transponder 11 30 4.75

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 -41.05 0.000 2 0.000 0.000 212 2392 1673 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.76 -97.8 3.4 -7.3 4 91 10.25 1.95 -9.90 0.000 4 0.437 0.175 2332 3466 2049 0 0 0 0 0 0 14.44 14.64 14.90

321 -0.70 -97.8 39.2 -18.1 29 327 0.15 1.77 0.00 0.000 6 0.301 0.096 2363 2397 2051 0 0 0 0 0 0 14.61 14.76 28.83

365 -0.66 -97.8 46.4 -16.1 33 366 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2398 2051 0 0 0 0 0 0 28.83 28.83 28.83

395 -0.63 -97.8 50.9 -15.2 36 396 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2401 2052 0 0 0 0 0 0 28.83 28.83 28.83

425 -0.61 -97.8 54.9 -13.8 39 427 0.12 0.00 0.00 0.000 6 0.308 0.000 2391 2397 2051 0 0 0 0 0 0 14.60 28.83 28.83

455 -0.61 -97.8 58.7 -12.4 42 456 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2398 2051 0 0 0 0 0 0 28.83 28.83 28.83

485 -0.63 -97.8 62.3 -12.1 45 487 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2398 2051 0 0 0 0 0 0 28.83 28.83 28.83

515 -0.64 -97.8 66.0 -12.5 48 521 0.00 1.77 0.00 0.000 4 0.000 0.098 2388 1341 2051 0 0 0 0 0 0 28.83 14.76 28.83

580 -0.68 -97.8 72.9 -9.9 54 585 0.00 1.90 0.00 0.000 6 0.000 0.134 2386 2410 2051 0 0 0 0 0 0 28.83 14.74 28.83

624 -0.70 -97.8 77.2 -9.9 58 625 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2410 2051 0 0 0 0 0 0 28.83 28.83 28.83

654 -0.72 -97.8 80.1 -9.7 61 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2410 2050 0 0 0 0 0 0 28.83 28.83 28.83

684 -0.75 -97.8 83.0 -9.5 64 685 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2410 2050 0 0 0 0 0 0 28.83 28.83 28.83

713 -0.77 -97.8 86.0 -10.0 67 719 0.12 1.90 0.00 0.000 4 0.151 0.150 2323 3457 2051 0 0 0 0 0 0 14.75 14.75 28.83

778 -0.72 -97.8 93.8 -13.5 73 784 0.15 1.77 0.00 0.000 6 0.294 0.099 2355 2395 2050 0 0 0 0 0 0 14.67 14.80 28.83

822 -0.71 -97.8 98.4 -10.5 77 827 0.00 1.77 0.00 0.000 4 0.000 0.100 2355 1338 2050 0 0 0 0 0 0 28.83 14.79 28.83

865 -0.71 -97.8 102.5 -9.5 81 871 0.00 1.88 0.00 0.000 6 0.000 0.134 2350 2401 2050 0 0 0 0 0 0 28.83 14.77 28.83

909 -0.70 -97.8 107.1 -10.6 85 910 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2401 2050 0 0 0 0 0 0 28.83 28.83 28.83

940 -0.68 -97.8 110.9 -12.3 88 941 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2400 2050 0 0 0 0 0 0 28.83 28.83 28.83

969 -0.67 -97.8 114.6 -12.6 91 975 0.00 1.90 0.00 0.000 4 0.000 0.151 2342 3469 2050 0 0 0 0 0 0 28.83 14.76 28.83

1016 -0.65 -97.8 120.0 -12.4 95 1024 0.17 1.80 0.00 0.000 6 0.285 0.101 2381 2390 2049 0 0 0 0 0 0 14.67 14.78 28.83

1053 -0.65 -97.8 124.5 -11.2 99 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2390 2049 0 0 0 0 0 0 28.83 28.83 28.83

1083 -0.67 -97.8 127.3 -9.3 102 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2390 2049 0 0 0 0 0 0 28.83 28.83 28.83

1116 -0.70 -97.8 130.1 -9.2 105 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2390 2049 0 0 0 0 0 0 28.83 28.83 28.83

1153 -0.72 -97.8 133.9 -9.6 109 1155 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2390 2049 0 0 0 0 0 0 28.83 28.83 28.83

1183 -0.74 -97.8 137.0 -10.2 112 1184 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2389 2049 0 0 0 0 0 0 28.83 28.83 28.83

1213 -0.76 -97.8 140.0 -10.3 115 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2390 2049 0 0 0 0 0 0 28.83 28.83 28.83

1243 -0.79 -97.8 143.1 -10.4 118 1245 0.12 0.00 0.00 0.000 6 0.151 0.000 2333 2390 2049 0 0 0 0 0 0 14.81 28.83 28.83

1273 -0.79 -97.8 146.5 -10.9 121 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2391 2049 0 0 0 0 0 0 28.83 28.83 28.83

1300 end dive: TARGET_DEPTH_EXCEEDED

state 1301 begin apogee

1307 -0.17 0.0 150.1 -12.0 124 1409 0.73 0.00 89.93 1.444 6 0.260 0.000 2530 2389 1651 0 0 0 0 1 0 14.70 28.83 13.74

1410 end apogee: CONTROL_FINISHED_OK

state 1410 begin climb

1413 0.76 97.8 153.1 0.0 134 1513 0.95 0.00 90.62 1.437 6 0.143 0.000 2834 2389 1251 0 0 0 0 1 0 14.30 28.83 13.59

1543 0.69 97.8 139.9 15.3 148 1548 0.00 1.83 0.00 0.000 4 0.000 0.098 2842 1345 1255 0 0 0 0 0 0 28.83 14.28 28.83

1620 0.63 97.8 127.9 16.2 155 1628 0.17 1.95 0.00 0.000 6 0.274 0.131 2802 2406 1255 0 0 0 0 0 0 14.38 14.42 28.83

1657 0.59 97.8 122.1 14.5 159 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2406 1255 0 0 0 0 0 0 28.83 28.83 28.83

1687 0.55 97.8 117.9 13.7 162 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2406 1255 0 0 0 0 0 0 28.83 28.83 28.83

1717 0.51 97.8 113.5 14.8 165 1719 0.17 0.00 0.00 0.000 6 0.285 0.000 2761 2406 1255 0 0 0 0 0 0 14.49 28.83 28.83

1747 0.49 97.8 110.2 11.7 168 1748 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2406 1255 0 0 0 0 0 0 28.83 28.83 28.83

1777 0.49 99.1 107.3 9.9 171 1785 0.00 0.00 1.40 0.315 6 0.000 0.000 2761 2406 1247 0 0 0 0 0 0 28.83 28.83 14.40

1817 0.49 99.1 102.9 11.0 175 1822 0.00 1.83 0.00 0.000 4 0.000 0.101 2766 1341 1251 0 0 0 0 0 0 28.83 14.64 28.83

1880 0.50 99.1 95.8 10.5 181 1886 0.00 1.92 0.00 0.000 6 0.000 0.134 2765 2402 1253 0 0 0 0 0 0 28.83 14.66 28.83

1924 0.50 99.1 91.3 10.1 185 1925 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2403 1253 0 0 0 0 0 0 28.83 28.83 28.83

1953 0.50 99.1 88.1 10.5 188 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2403 1253 0 0 0 0 0 0 28.83 28.83 28.83

1984 0.50 101.2 85.1 9.9 191 1993 0.00 0.00 2.17 0.359 6 0.000 0.000 2766 2402 1238 0 0 0 0 0 0 28.83 28.83 14.51

2024 0.50 101.2 81.1 10.3 195 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2402 1242 0 0 0 0 0 0 28.83 28.83 28.83

2054 0.50 101.8 78.1 10.0 198 2062 0.00 0.00 1.38 0.313 6 0.000 0.000 2766 2403 1235 0 0 0 0 0 0 28.83 28.83 14.54

2094 0.50 101.8 73.8 10.6 202 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2402 1240 0 0 0 0 0 0 28.83 28.83 28.83

2123 0.50 101.8 70.4 11.0 205 2129 0.00 1.80 0.00 0.000 4 0.000 0.101 2773 1343 1240 0 0 0 0 0 0 28.83 14.73 28.83

2200 0.51 108.4 63.5 9.6 212 2212 0.00 1.88 4.30 0.347 6 0.000 0.132 2773 2399 1209 0 0 0 0 0 0 28.83 14.70 14.58

2250 0.51 123.3 58.7 9.0 217 2265 0.00 1.85 8.75 0.350 4 0.000 0.103 2781 1348 1147 0 0 0 0 0 0 28.83 14.69 14.59

2384 0.53 123.3 45.9 10.5 230 2390 0.00 1.88 0.00 0.000 6 0.000 0.132 2781 2402 1154 0 0 0 0 0 0 28.83 14.74 28.83

2427 0.53 123.3 41.3 10.4 234 2432 0.00 1.90 0.00 0.000 4 0.000 0.153 2781 3462 1151 0 0 0 0 0 0 28.83 14.72 28.83

2461 0.51 123.3 37.7 11.0 237 2466 0.00 1.77 0.00 0.000 6 0.000 0.099 2788 2400 1151 0 0 0 0 0 0 28.83 14.78 28.83

2504 0.49 123.3 33.0 10.9 241 2510 0.12 1.77 0.00 0.000 4 0.283 0.099 2763 1344 1151 0 0 0 0 0 0 14.66 14.77 28.83

2600 0.52 140.7 24.4 8.8 250 2616 0.00 1.90 9.45 0.246 6 0.000 0.137 2763 2410 1074 0 0 0 0 0 0 28.83 14.76 14.69

2655 0.55 144.2 19.1 9.8 255 2663 0.00 0.00 1.98 0.246 6 0.000 0.000 2763 2410 1061 0 0 0 0 0 0 28.83 28.83 14.69

2695 0.58 144.8 15.1 10.0 259 2700 0.00 1.80 0.00 0.000 4 0.000 0.103 2770 1344 1066 0 0 0 0 0 0 28.83 14.78 28.83

2742 0.62 161.9 11.1 8.8 263 2759 0.00 1.88 9.45 0.203 6 0.000 0.137 2771 2398 986 0 0 0 0 0 0 28.83 14.77 14.71

2788 0.67 199.3 7.3 7.4 268 2814 0.12 1.85 17.90 0.187 4 0.152 0.105 2836 1349 835 0 0 0 0 0 0 14.77 14.72 14.70

2862 end climb: SURFACE_DEPTH_REACHED

state 2862 begin surface coast

2893 end surface coast: CONTROL_FINISHED_OK

state 2893 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	6	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	11	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	-43555.035	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	270612,203408,4742.821,-12224.614,25,2.4,44,18.2	TGT_NAME	NW
_CALLS	4	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,0.214
_SM_DEPTHo	1.66	KALMAN_X	127.6,87.6,78.7,-212.3,-14.5
_SM_ANGLEo	-74.7	KALMAN_Y	-129.1,-219.4,-177.1,1251.5,126.2
GPS2	270612,204958,4742.899,-12224.629,10,2.2,29,18.2	MHEAD_RNG_PITCHd_Wd	335.2,1866,-21.7,-10.000
SPEED_LIMITS	0.084,0.216	D_GRID	178

FINISH	2.1,1.017232	_24V_AH	13.6,0.840
SM_CCo	2914,43.53,0.169,0,0,464,290.19	_10V_AH	13.4,0.509
SM_GC	1.34,7.75,1.95,43.53,0.114,0.132,0.169,220,2410,464,-7.37,-0.23,290.19,0,0,0,0,0,0,14.76,14.75,14.70	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-11933.99,270612,202010	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	323348
HUMID	45.51	DATA_FILE_SIZE	10157,278
INTERNAL_PRESSURE	8.95542	CAP_FILE_SIZE	101071,0
TCM_TEMP	19.40	CFSIZE	260165632,257007616
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
ALTIM_BOTTOM_PING	130.1,60.9	GPS	270612,214246,4743.308,-12224.644,82,3.6,101,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	436	125.50	nil	0	0	0.00
Roll_motor	48	175	114.78	nil	0	0	0.00
VBD_pump_during_apogee	237	1444	4661.72	nil	0	0	0.00
VBD_pump_during_surface	43	169	100.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	162.60	nil	0	0	0.00
Iridium_during_connect	240	160	523.89	SciCon	2901	22	901.44
Iridium_during_xfer	210	223	639.67	nil	0	0	0.00
Transponder_ping	1	420	8.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	22.17
TT8	911	19	241.89
LPSleep	1133	2	33.26
TT8_Active	375	19	99.71
TT8_Sampling	1258	39	671.30
TT8_CF8	244	45	150.27
TT8_Kalman	33	81	36.41
Analog_circuits	808	12	130.01
GPS_charging	0	0	0.00
Compass	626	5	41.95
RAFOS	0	0	0.00
Transponder	11	30	4.75

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	-41.05	0.000	2	0.000	0.000	212	2392	1673	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.76	-97.8	3.4	-7.3	4	91	10.25	1.95	-9.90	0.000	4	0.437	0.175	2332	3466	2049	0	0	0	0	0	0	14.44	14.64	14.90
321	-0.70	-97.8	39.2	-18.1	29	327	0.15	1.77	0.00	0.000	6	0.301	0.096	2363	2397	2051	0	0	0	0	0	0	14.61	14.76	28.83
365	-0.66	-97.8	46.4	-16.1	33	366	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2398	2051	0	0	0	0	0	0	28.83	28.83	28.83
395	-0.63	-97.8	50.9	-15.2	36	396	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2401	2052	0	0	0	0	0	0	28.83	28.83	28.83
425	-0.61	-97.8	54.9	-13.8	39	427	0.12	0.00	0.00	0.000	6	0.308	0.000	2391	2397	2051	0	0	0	0	0	0	14.60	28.83	28.83
455	-0.61	-97.8	58.7	-12.4	42	456	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2398	2051	0	0	0	0	0	0	28.83	28.83	28.83
485	-0.63	-97.8	62.3	-12.1	45	487	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2398	2051	0	0	0	0	0	0	28.83	28.83	28.83
515	-0.64	-97.8	66.0	-12.5	48	521	0.00	1.77	0.00	0.000	4	0.000	0.098	2388	1341	2051	0	0	0	0	0	0	28.83	14.76	28.83
580	-0.68	-97.8	72.9	-9.9	54	585	0.00	1.90	0.00	0.000	6	0.000	0.134	2386	2410	2051	0	0	0	0	0	0	28.83	14.74	28.83
624	-0.70	-97.8	77.2	-9.9	58	625	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2410	2051	0	0	0	0	0	0	28.83	28.83	28.83
654	-0.72	-97.8	80.1	-9.7	61	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2410	2050	0	0	0	0	0	0	28.83	28.83	28.83
684	-0.75	-97.8	83.0	-9.5	64	685	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2410	2050	0	0	0	0	0	0	28.83	28.83	28.83
713	-0.77	-97.8	86.0	-10.0	67	719	0.12	1.90	0.00	0.000	4	0.151	0.150	2323	3457	2051	0	0	0	0	0	0	14.75	14.75	28.83
778	-0.72	-97.8	93.8	-13.5	73	784	0.15	1.77	0.00	0.000	6	0.294	0.099	2355	2395	2050	0	0	0	0	0	0	14.67	14.80	28.83
822	-0.71	-97.8	98.4	-10.5	77	827	0.00	1.77	0.00	0.000	4	0.000	0.100	2355	1338	2050	0	0	0	0	0	0	28.83	14.79	28.83
865	-0.71	-97.8	102.5	-9.5	81	871	0.00	1.88	0.00	0.000	6	0.000	0.134	2350	2401	2050	0	0	0	0	0	0	28.83	14.77	28.83
909	-0.70	-97.8	107.1	-10.6	85	910	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2401	2050	0	0	0	0	0	0	28.83	28.83	28.83
940	-0.68	-97.8	110.9	-12.3	88	941	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2400	2050	0	0	0	0	0	0	28.83	28.83	28.83
969	-0.67	-97.8	114.6	-12.6	91	975	0.00	1.90	0.00	0.000	4	0.000	0.151	2342	3469	2050	0	0	0	0	0	0	28.83	14.76	28.83
1016	-0.65	-97.8	120.0	-12.4	95	1024	0.17	1.80	0.00	0.000	6	0.285	0.101	2381	2390	2049	0	0	0	0	0	0	14.67	14.78	28.83
1053	-0.65	-97.8	124.5	-11.2	99	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2390	2049	0	0	0	0	0	0	28.83	28.83	28.83
1083	-0.67	-97.8	127.3	-9.3	102	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2390	2049	0	0	0	0	0	0	28.83	28.83	28.83
1116	-0.70	-97.8	130.1	-9.2	105	1122	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2390	2049	0	0	0	0	0	0	28.83	28.83	28.83
1153	-0.72	-97.8	133.9	-9.6	109	1155	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2390	2049	0	0	0	0	0	0	28.83	28.83	28.83
1183	-0.74	-97.8	137.0	-10.2	112	1184	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2389	2049	0	0	0	0	0	0	28.83	28.83	28.83
1213	-0.76	-97.8	140.0	-10.3	115	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2390	2049	0	0	0	0	0	0	28.83	28.83	28.83
1243	-0.79	-97.8	143.1	-10.4	118	1245	0.12	0.00	0.00	0.000	6	0.151	0.000	2333	2390	2049	0	0	0	0	0	0	14.81	28.83	28.83
1273	-0.79	-97.8	146.5	-10.9	121	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2391	2049	0	0	0	0	0	0	28.83	28.83	28.83
1300	end dive: TARGET_DEPTH_EXCEEDED
state	1301	begin apogee
1307	-0.17	0.0	150.1	-12.0	124	1409	0.73	0.00	89.93	1.444	6	0.260	0.000	2530	2389	1651	0	0	0	0	1	0	14.70	28.83	13.74
1410	end apogee: CONTROL_FINISHED_OK
state	1410	begin climb
1413	0.76	97.8	153.1	0.0	134	1513	0.95	0.00	90.62	1.437	6	0.143	0.000	2834	2389	1251	0	0	0	0	1	0	14.30	28.83	13.59
1543	0.69	97.8	139.9	15.3	148	1548	0.00	1.83	0.00	0.000	4	0.000	0.098	2842	1345	1255	0	0	0	0	0	0	28.83	14.28	28.83
1620	0.63	97.8	127.9	16.2	155	1628	0.17	1.95	0.00	0.000	6	0.274	0.131	2802	2406	1255	0	0	0	0	0	0	14.38	14.42	28.83
1657	0.59	97.8	122.1	14.5	159	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2406	1255	0	0	0	0	0	0	28.83	28.83	28.83
1687	0.55	97.8	117.9	13.7	162	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2406	1255	0	0	0	0	0	0	28.83	28.83	28.83
1717	0.51	97.8	113.5	14.8	165	1719	0.17	0.00	0.00	0.000	6	0.285	0.000	2761	2406	1255	0	0	0	0	0	0	14.49	28.83	28.83
1747	0.49	97.8	110.2	11.7	168	1748	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2406	1255	0	0	0	0	0	0	28.83	28.83	28.83
1777	0.49	99.1	107.3	9.9	171	1785	0.00	0.00	1.40	0.315	6	0.000	0.000	2761	2406	1247	0	0	0	0	0	0	28.83	28.83	14.40
1817	0.49	99.1	102.9	11.0	175	1822	0.00	1.83	0.00	0.000	4	0.000	0.101	2766	1341	1251	0	0	0	0	0	0	28.83	14.64	28.83
1880	0.50	99.1	95.8	10.5	181	1886	0.00	1.92	0.00	0.000	6	0.000	0.134	2765	2402	1253	0	0	0	0	0	0	28.83	14.66	28.83
1924	0.50	99.1	91.3	10.1	185	1925	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2403	1253	0	0	0	0	0	0	28.83	28.83	28.83
1953	0.50	99.1	88.1	10.5	188	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2403	1253	0	0	0	0	0	0	28.83	28.83	28.83
1984	0.50	101.2	85.1	9.9	191	1993	0.00	0.00	2.17	0.359	6	0.000	0.000	2766	2402	1238	0	0	0	0	0	0	28.83	28.83	14.51
2024	0.50	101.2	81.1	10.3	195	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2402	1242	0	0	0	0	0	0	28.83	28.83	28.83
2054	0.50	101.8	78.1	10.0	198	2062	0.00	0.00	1.38	0.313	6	0.000	0.000	2766	2403	1235	0	0	0	0	0	0	28.83	28.83	14.54
2094	0.50	101.8	73.8	10.6	202	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2402	1240	0	0	0	0	0	0	28.83	28.83	28.83
2123	0.50	101.8	70.4	11.0	205	2129	0.00	1.80	0.00	0.000	4	0.000	0.101	2773	1343	1240	0	0	0	0	0	0	28.83	14.73	28.83
2200	0.51	108.4	63.5	9.6	212	2212	0.00	1.88	4.30	0.347	6	0.000	0.132	2773	2399	1209	0	0	0	0	0	0	28.83	14.70	14.58
2250	0.51	123.3	58.7	9.0	217	2265	0.00	1.85	8.75	0.350	4	0.000	0.103	2781	1348	1147	0	0	0	0	0	0	28.83	14.69	14.59
2384	0.53	123.3	45.9	10.5	230	2390	0.00	1.88	0.00	0.000	6	0.000	0.132	2781	2402	1154	0	0	0	0	0	0	28.83	14.74	28.83
2427	0.53	123.3	41.3	10.4	234	2432	0.00	1.90	0.00	0.000	4	0.000	0.153	2781	3462	1151	0	0	0	0	0	0	28.83	14.72	28.83
2461	0.51	123.3	37.7	11.0	237	2466	0.00	1.77	0.00	0.000	6	0.000	0.099	2788	2400	1151	0	0	0	0	0	0	28.83	14.78	28.83
2504	0.49	123.3	33.0	10.9	241	2510	0.12	1.77	0.00	0.000	4	0.283	0.099	2763	1344	1151	0	0	0	0	0	0	14.66	14.77	28.83
2600	0.52	140.7	24.4	8.8	250	2616	0.00	1.90	9.45	0.246	6	0.000	0.137	2763	2410	1074	0	0	0	0	0	0	28.83	14.76	14.69
2655	0.55	144.2	19.1	9.8	255	2663	0.00	0.00	1.98	0.246	6	0.000	0.000	2763	2410	1061	0	0	0	0	0	0	28.83	28.83	14.69
2695	0.58	144.8	15.1	10.0	259	2700	0.00	1.80	0.00	0.000	4	0.000	0.103	2770	1344	1066	0	0	0	0	0	0	28.83	14.78	28.83
2742	0.62	161.9	11.1	8.8	263	2759	0.00	1.88	9.45	0.203	6	0.000	0.137	2771	2398	986	0	0	0	0	0	0	28.83	14.77	14.71
2788	0.67	199.3	7.3	7.4	268	2814	0.12	1.85	17.90	0.187	4	0.152	0.105	2836	1349	835	0	0	0	0	0	0	14.77	14.72	14.70
2862	end climb: SURFACE_DEPTH_REACHED
state	2862	begin surface coast
2893	end surface coast: CONTROL_FINISHED_OK
state	2893	begin surface