Glider dive log

WA coast Jun12 * SG178 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 ROLL_DEG 40 ALTIM_FREQUENCY 13

MISSION 14 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_PULSE 8

DIVE 9 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2250 ALTIM_SENSITIVITY 1

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 6

D_SURF 3 TGT_DEFAULT_LAT 47.700001 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -122.4 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 INT_PRESSURE_YINT 0

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 30 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 3 FILEMGR 0 ROLL_MAXERRORS 1 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 9 VBD_MIN 425 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2737 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 69

T_DIVE 330 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 -1

T_MISSION 380 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -13165.124 AH0_24V 91.800003 RAFOS_DEVICE -1

USE_BATHY 1 T_RSLEEP 3 AH0_10V 61.200001 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 22 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 9.5 SIM_PITCH 0

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043278597

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00062587409

RELAUNCH 1 PITCH_MIN 165 PHONE_SUPPLY 2 SEABIRD_T_I 2.4307059e-05

APOGEE_PITCH -5 PITCH_MAX 3954 PRESSURE_YINT -47.288708 SEABIRD_T_J 2.6760367e-06

MAX_BUOY 150 C_PITCH 2660 PRESSURE_SLOPE 0.0001161899 SEABIRD_C_G -9.9460888

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1279132

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015660153

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020359491

RHO 1.0275 PITCH_GAIN 30 COMPASS_USE 4 PA_OFFLOAD 1.0

MASS 51867 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

NAV_MODE 2 PITCH_AD_RATE 145 ALTIM_TOP_PING_RANGE 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 PA_POWERSOURCE 0.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PA_RESTARTMONITOR 0.0

HD_A 0.0025937001 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 PA_SCALEFACTOR24V 1.3

HD_B 0.01134 ROLL_MIN 226 ALTIM_PING_DEPTH 0

HD_C 1.234e-05 ROLL_MAX 3782 ALTIM_PING_DELTA 10

AD7714Ch0Gain 128 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_10V 61.200001 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

AH0_24V 91.800003 D_SURF 3 PA_SCALEFACTOR24V 1.3 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_AD_RATE 145 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 8 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 30 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3954 TGT_DEFAULT_LAT 47.700001

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 HD_A 0.0025937001 PITCH_MIN 165 T_ABORT 1440

CALL_NDIVES 1 HD_B 0.01134 PITCH_TIMEOUT 20 T_BOOST 0

CALL_TRIES 5 HD_C 1.234e-05 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 330

CALL_WAIT 60 HEADING -1 PRESSURE_SLOPE 0.0001161899 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_YINT -47.288708 T_GPS 15

CAPUPLOAD 0 HEAPDBG 0 PROTOCOL 9 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -13165.124

COMM_SEQ 0 ID 178 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 380

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_PITCH 2660 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2737 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 51867 ROLL_CNV 0.028270001 USE_BATHY 1

DEEPGLIDERMB 0 MAX_BUOY 150 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MINV_10V 9.5 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_24V 22 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MISSION 14 ROLL_MIN 226 VBD_DBAND 2

DEVICE4 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 NAV_MODE 2 R_PORT_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE6 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 30 VBD_MIN 425

DIVE 9 N_DIVES 0 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_GPS 20 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.4307059e-05

D_OFFGRID 1000 PA_OFFLOAD 1.0 SEABIRD_T_J 2.6760367e-06

Pre-dive calculations and measurements:

GPS1 120612,114137,4650.806,-12502.015,73,1.5,79,18.4 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4640.000,-12510.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.107,-0.217

_SM_DEPTHo 1.08 KALMAN_X 1792.6,-1361.2,-68.8,-7802.8,418.0

_SM_ANGLEo -72.8 KALMAN_Y 232.0,1265.8,-712.5,-8256.4,901.7

GPS2 120612,114755,4650.803,-12501.879,17,1.7,35,18.4 MHEAD_RNG_PITCHd_Wd 186.1,22513,-17.8,-10.000

SPEED_LIMITS 0.173,0.242 D_GRID 539

Post-dive calculations and measurements:

FINISH 0.1,1.023565 _10V_AH 9.8,22.150

SM_CCo 10459,0.00,0.000,0,0,1270,359.86 FG_AHR_24Vo 0.000

SM_GC 1.00,7.78,1.90,0.00,0.048,0.041,0.000,163,2501,1270,-7.76,1.22,359.86,0,0,0,0,0,0,25.25,25.33,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4632.36,-12454.63,120612,080843 MEM 297224

TT8_MAMPS 0.121338,0.121338 DATA_FILE_SIZE 56674,1385

HUMID 40.51 CAP_FILE_SIZE 134250,0

INTERNAL_PRESSURE 9.04332 CFSIZE 260165632,255926272

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 56 CURRENT 0.058,286.5,1

_24V_AH 23.0,24.326 GPS 120612,144536,4649.630,-12503.382,58,1.9,70,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 271 137.26 SBE_CT 951 24 525.16

Roll_motor 86 81 162.21 nil 0 0 0.00

VBD_pump_during_apogee 441 966 9825.67 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 63.52 nil 0 0 0.00

Iridium_during_connect 41 160 153.87 PAAM 10972 109 27592.15

Iridium_during_xfer 168 223 866.78 nil 0 0 0.00

Transponder_ping 14 420 135.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.59

TT8 0 0 0.00

LPSleep 6664 2 143.03

TT8_Active 519 19 100.87

TT8_Sampling 3607 39 1407.01

TT8_CF8 93 45 42.07

TT8_Kalman 33 81 26.63

Analog_circuits 1816 12 213.60

GPS_charging 0 0 0.00

Compass 2122 15 312.02

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.77 -146.0 0.0 0.0 0 75 0.00 0.00 -60.55 0.000 2 0.000 0.000 159 2510 2697 0 0 0 0 0 0 28.83 28.83 28.83

77 -0.77 -146.0 3.5 -7.8 10 104 10.65 2.15 -11.77 0.000 4 0.272 0.081 2397 3776 3337 0 0 0 0 0 0 24.84 25.35 25.92

112 -0.41 -146.0 17.5 -34.4 16 120 0.45 2.08 0.00 0.000 6 0.170 0.041 2520 2496 3339 0 0 0 0 0 0 24.92 25.56 28.83

419 -0.67 -146.0 41.5 -7.9 77 427 0.25 2.25 0.00 0.000 4 0.078 0.045 2433 1097 3346 0 0 0 0 0 0 25.67 25.57 28.83

466 -0.77 -146.0 45.5 -8.7 86 474 0.00 2.33 0.00 0.000 6 0.000 0.050 2424 2497 3343 0 0 0 0 0 0 28.83 25.55 28.83

773 -0.77 -146.0 79.2 -11.5 147 784 0.00 2.17 0.00 0.000 4 0.000 0.067 2415 3784 3343 0 0 0 0 0 0 28.83 25.51 28.83

923 -0.77 -146.0 98.2 -13.9 176 933 0.00 2.03 0.00 0.000 6 0.000 0.044 2415 2485 3344 0 0 0 0 0 0 28.83 25.88 28.83

1233 -0.80 -146.0 131.0 -9.7 237 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2486 3344 0 0 0 0 0 0 28.83 28.83 28.83

1542 -0.85 -146.0 159.7 -9.0 298 1554 0.00 2.15 0.00 0.000 4 0.000 0.067 2405 3774 3344 0 0 0 0 0 0 28.83 25.60 28.83

1563 -0.89 -146.0 161.8 -9.0 301 1573 0.00 1.98 0.00 0.000 6 0.000 0.042 2403 2496 3344 0 0 0 0 0 0 28.83 26.01 28.83

1872 -0.93 -146.0 192.0 -10.2 362 1883 0.12 2.15 0.00 0.000 4 0.096 0.065 2338 3775 3344 0 0 0 0 0 0 26.22 25.62 28.83

1962 -0.89 -146.0 204.1 -14.6 376 1973 0.12 2.00 0.00 0.000 6 0.177 0.042 2362 2493 3344 0 0 0 0 0 0 25.62 26.05 28.83

2267 -0.89 -146.0 243.5 -12.4 407 2275 0.00 2.15 0.00 0.000 4 0.000 0.067 2359 3778 3344 0 0 0 0 0 0 28.83 25.64 28.83

2314 -0.89 -146.0 249.4 -12.8 411 2321 0.00 2.00 0.00 0.000 6 0.000 0.043 2358 2493 3344 0 0 0 0 0 0 28.83 26.06 28.83

2625 -0.89 -146.0 288.5 -11.5 442 2633 0.00 2.15 0.00 0.000 4 0.000 0.067 2349 3775 3346 0 0 0 0 0 0 28.83 25.63 28.83

2686 -0.87 -146.0 295.5 -12.6 447 2697 0.12 2.00 0.00 0.000 6 0.172 0.042 2378 2491 3343 0 0 0 0 0 0 25.68 26.06 28.83

2992 -0.87 -146.0 328.3 -9.7 478 2999 0.00 2.15 0.00 0.000 4 0.000 0.067 2371 3777 3343 0 0 0 0 0 0 28.83 25.63 28.83

3068 -0.87 -146.0 336.4 -10.5 485 3076 0.00 2.00 0.00 0.000 6 0.000 0.043 2370 2491 3343 0 0 0 0 0 0 28.83 26.08 28.83

3374 -0.87 -146.0 368.1 -10.6 515 3381 0.00 2.15 0.00 0.000 4 0.000 0.067 2361 3776 3343 0 0 0 0 0 0 28.83 25.63 28.83

3425 -0.87 -146.0 373.7 -11.9 519 3435 0.00 1.98 0.00 0.000 6 0.000 0.044 2361 2495 3342 0 0 0 0 0 0 28.83 26.08 28.83

3730 -0.87 -146.0 409.1 -11.6 550 3739 0.00 2.12 0.00 0.000 4 0.000 0.068 2352 3774 3342 0 0 0 0 0 0 28.83 25.62 28.83

3772 -0.87 -146.0 413.6 -12.1 553 3783 0.12 2.00 0.00 0.000 6 0.172 0.043 2380 2492 3342 0 0 0 0 0 0 25.70 26.08 28.83

4078 -0.89 -146.0 445.0 -10.1 584 4085 0.00 2.15 0.00 0.000 4 0.000 0.067 2373 3774 3341 0 0 0 0 0 0 28.83 25.62 28.83

4104 -0.91 -146.0 447.8 -10.2 586 4112 0.00 1.98 0.00 0.000 6 0.000 0.044 2372 2493 3341 0 0 0 0 0 0 28.83 26.10 28.83

4409 -0.91 -146.0 480.0 -10.6 616 4417 0.00 2.15 0.00 0.000 4 0.000 0.067 2361 3774 3341 0 0 0 0 0 0 28.83 25.63 28.83

4486 -0.91 -146.0 488.4 -11.0 623 4493 0.00 1.98 0.00 0.000 6 0.000 0.044 2360 2500 3340 0 0 0 0 0 0 28.83 26.08 28.83

4791 -0.91 -146.0 520.8 -10.9 653 4797 0.00 0.00 0.00 0.000 6 0.000 0.000 2364 2495 3343 0 0 0 0 0 0 28.83 28.83 28.83

4960 end dive: TARGET_DEPTH_EXCEEDED

state 4960 begin apogee

4963 -0.17 0.0 539.2 -11.1 670 5098 0.75 0.00 125.97 0.967 6 0.136 0.000 2593 2248 2738 0 0 0 0 0 0 25.31 28.83 23.27

5099 end apogee: CONTROL_FINISHED_OK

state 5099 begin climb

5100 0.77 146.0 544.9 0.0 683 5245 0.88 0.00 131.23 0.945 6 0.056 0.000 2909 2249 2140 0 0 0 0 0 0 24.49 28.83 22.95

5541 0.71 146.0 512.8 10.4 728 5549 0.00 2.33 0.00 0.000 4 0.000 0.050 2920 846 2131 0 0 0 0 0 0 28.83 25.16 28.83

5649 0.64 146.0 501.5 10.4 738 5663 0.20 2.30 0.00 0.000 6 0.168 0.045 2872 2254 2129 0 0 0 0 0 0 24.89 25.29 28.83

5959 0.62 149.7 471.5 9.8 769 5964 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2255 2130 0 0 0 0 0 0 28.83 28.83 28.83

6259 0.62 170.9 442.1 9.0 799 6286 0.00 0.00 21.50 0.864 6 0.000 0.000 2871 2254 2040 0 0 0 0 0 0 28.83 28.83 24.29

6580 0.62 172.8 409.4 9.9 831 6588 0.00 2.33 0.00 0.000 4 0.000 0.050 2880 835 2035 0 0 0 0 0 0 28.83 25.53 28.83

6627 0.62 172.8 404.5 10.4 835 6635 0.00 2.28 0.00 0.000 6 0.000 0.046 2880 2251 2034 0 0 0 0 0 0 28.83 25.56 28.83

6933 0.60 172.8 371.8 10.8 865 6938 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2251 2033 0 0 0 0 0 0 28.83 28.83 28.83

7233 0.58 172.8 340.5 10.6 895 7239 0.15 0.00 0.00 0.000 6 0.174 0.000 2844 2251 2033 0 0 0 0 0 0 25.65 28.83 28.83

7533 0.65 214.5 314.7 8.1 925 7582 0.00 2.42 38.25 0.822 4 0.000 0.063 2844 3651 1861 0 0 0 0 0 0 28.83 25.26 24.30

7610 0.69 236.8 308.4 9.0 932 7641 0.00 2.28 20.58 0.787 6 0.000 0.041 2853 2231 1771 0 0 0 0 0 0 28.83 25.44 24.08

7936 0.73 242.5 276.6 9.7 965 7952 0.12 2.28 5.57 0.633 4 0.098 0.050 2916 849 1749 0 0 0 0 0 0 25.62 25.47 24.26

8010 0.73 242.5 267.4 12.9 972 8018 0.00 2.30 0.00 0.000 6 0.000 0.046 2916 2253 1747 0 0 0 0 0 0 28.83 25.44 28.83

8316 0.71 242.5 226.2 13.4 1002 8321 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2253 1746 0 0 0 0 0 0 28.83 28.83 28.83

8616 0.68 242.5 185.9 13.8 1042 8627 0.12 2.30 0.00 0.000 4 0.180 0.048 2891 846 1745 0 0 0 0 0 0 25.64 25.65 28.83

8686 0.71 242.5 177.4 12.1 1055 8697 0.00 2.25 0.00 0.000 6 0.000 0.045 2891 2253 1745 0 0 0 0 0 0 28.83 25.67 28.83

8995 0.71 242.5 139.4 11.9 1116 9007 0.00 2.33 0.00 0.000 4 0.000 0.063 2895 3654 1744 0 0 0 0 0 0 28.83 25.59 28.83

9121 0.71 242.5 123.3 13.4 1140 9132 0.00 2.22 0.00 0.000 6 0.000 0.041 2902 2241 1744 0 0 0 0 0 0 28.83 25.87 28.83

9432 0.73 260.6 89.9 9.2 1201 9461 0.00 2.25 16.62 0.672 4 0.000 0.051 2909 857 1673 0 0 0 0 0 0 28.83 25.79 24.82

9566 0.75 269.5 77.1 9.6 1226 9583 0.00 2.22 8.95 0.622 6 0.000 0.045 2912 2256 1638 0 0 0 0 0 0 28.83 25.71 24.70

9883 0.78 269.5 43.8 10.2 1288 9890 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2251 1634 0 0 0 0 0 0 28.83 28.83 28.83

10190 0.91 357.5 17.2 5.9 1349 10271 0.12 2.40 73.12 0.641 4 0.100 0.061 2964 3649 1276 0 0 0 0 0 0 26.09 24.99 24.22

10358 end climb: SURFACE_DEPTH_REACHED

state 10358 begin surface coast

10384 end surface coast: CONTROL_FINISHED_OK

state 10384 begin surface

ID	178	HEADING	-1	ROLL_DEG	40	ALTIM_FREQUENCY	13
MISSION	14	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_PULSE	8
DIVE	9	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2250	ALTIM_SENSITIVITY	1
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	6
D_SURF	3	TGT_DEFAULT_LAT	47.700001	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-122.4	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	INT_PRESSURE_YINT	0
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	30	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	3	FILEMGR	0	ROLL_MAXERRORS	1	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	9	VBD_MIN	425	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2737	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	69
T_DIVE	330	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	-1
T_MISSION	380	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-13165.124	AH0_24V	91.800003	RAFOS_DEVICE	-1
USE_BATHY	1	T_RSLEEP	3	AH0_10V	61.200001	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	22	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	9.5	SIM_PITCH	0
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043278597
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00062587409
RELAUNCH	1	PITCH_MIN	165	PHONE_SUPPLY	2	SEABIRD_T_I	2.4307059e-05
APOGEE_PITCH	-5	PITCH_MAX	3954	PRESSURE_YINT	-47.288708	SEABIRD_T_J	2.6760367e-06
MAX_BUOY	150	C_PITCH	2660	PRESSURE_SLOPE	0.0001161899	SEABIRD_C_G	-9.9460888
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1279132
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015660153
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020359491
RHO	1.0275	PITCH_GAIN	30	COMPASS_USE	4	PA_OFFLOAD	1.0
MASS	51867	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0
NAV_MODE	2	PITCH_AD_RATE	145	ALTIM_TOP_PING_RANGE	0	PA_MAXOPTIONALUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	PA_POWERSOURCE	0.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PA_RESTARTMONITOR	0.0
HD_A	0.0025937001	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	PA_SCALEFACTOR24V	1.3
HD_B	0.01134	ROLL_MIN	226	ALTIM_PING_DEPTH	0
HD_C	1.234e-05	ROLL_MAX	3782	ALTIM_PING_DELTA	10

GPS1	120612,114137,4650.806,-12502.015,73,1.5,79,18.4	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4640.000,-12510.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.107,-0.217
_SM_DEPTHo	1.08	KALMAN_X	1792.6,-1361.2,-68.8,-7802.8,418.0
_SM_ANGLEo	-72.8	KALMAN_Y	232.0,1265.8,-712.5,-8256.4,901.7
GPS2	120612,114755,4650.803,-12501.879,17,1.7,35,18.4	MHEAD_RNG_PITCHd_Wd	186.1,22513,-17.8,-10.000
SPEED_LIMITS	0.173,0.242	D_GRID	539

FINISH	0.1,1.023565	_10V_AH	9.8,22.150
SM_CCo	10459,0.00,0.000,0,0,1270,359.86	FG_AHR_24Vo	0.000
SM_GC	1.00,7.78,1.90,0.00,0.048,0.041,0.000,163,2501,1270,-7.76,1.22,359.86,0,0,0,0,0,0,25.25,25.33,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4632.36,-12454.63,120612,080843	MEM	297224
TT8_MAMPS	0.121338,0.121338	DATA_FILE_SIZE	56674,1385
HUMID	40.51	CAP_FILE_SIZE	134250,0
INTERNAL_PRESSURE	9.04332	CFSIZE	260165632,255926272
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	56	CURRENT	0.058,286.5,1
_24V_AH	23.0,24.326	GPS	120612,144536,4649.630,-12503.382,58,1.9,70,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	271	137.26	SBE_CT	951	24	525.16
Roll_motor	86	81	162.21	nil	0	0	0.00
VBD_pump_during_apogee	441	966	9825.67	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	63.52	nil	0	0	0.00
Iridium_during_connect	41	160	153.87	PAAM	10972	109	27592.15
Iridium_during_xfer	168	223	866.78	nil	0	0	0.00
Transponder_ping	14	420	135.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.59
TT8	0	0	0.00
LPSleep	6664	2	143.03
TT8_Active	519	19	100.87
TT8_Sampling	3607	39	1407.01
TT8_CF8	93	45	42.07
TT8_Kalman	33	81	26.63
Analog_circuits	1816	12	213.60
GPS_charging	0	0	0.00
Compass	2122	15	312.02
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.77	-146.0	0.0	0.0	0	75	0.00	0.00	-60.55	0.000	2	0.000	0.000	159	2510	2697	0	0	0	0	0	0	28.83	28.83	28.83
77	-0.77	-146.0	3.5	-7.8	10	104	10.65	2.15	-11.77	0.000	4	0.272	0.081	2397	3776	3337	0	0	0	0	0	0	24.84	25.35	25.92
112	-0.41	-146.0	17.5	-34.4	16	120	0.45	2.08	0.00	0.000	6	0.170	0.041	2520	2496	3339	0	0	0	0	0	0	24.92	25.56	28.83
419	-0.67	-146.0	41.5	-7.9	77	427	0.25	2.25	0.00	0.000	4	0.078	0.045	2433	1097	3346	0	0	0	0	0	0	25.67	25.57	28.83
466	-0.77	-146.0	45.5	-8.7	86	474	0.00	2.33	0.00	0.000	6	0.000	0.050	2424	2497	3343	0	0	0	0	0	0	28.83	25.55	28.83
773	-0.77	-146.0	79.2	-11.5	147	784	0.00	2.17	0.00	0.000	4	0.000	0.067	2415	3784	3343	0	0	0	0	0	0	28.83	25.51	28.83
923	-0.77	-146.0	98.2	-13.9	176	933	0.00	2.03	0.00	0.000	6	0.000	0.044	2415	2485	3344	0	0	0	0	0	0	28.83	25.88	28.83
1233	-0.80	-146.0	131.0	-9.7	237	1243	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2486	3344	0	0	0	0	0	0	28.83	28.83	28.83
1542	-0.85	-146.0	159.7	-9.0	298	1554	0.00	2.15	0.00	0.000	4	0.000	0.067	2405	3774	3344	0	0	0	0	0	0	28.83	25.60	28.83
1563	-0.89	-146.0	161.8	-9.0	301	1573	0.00	1.98	0.00	0.000	6	0.000	0.042	2403	2496	3344	0	0	0	0	0	0	28.83	26.01	28.83
1872	-0.93	-146.0	192.0	-10.2	362	1883	0.12	2.15	0.00	0.000	4	0.096	0.065	2338	3775	3344	0	0	0	0	0	0	26.22	25.62	28.83
1962	-0.89	-146.0	204.1	-14.6	376	1973	0.12	2.00	0.00	0.000	6	0.177	0.042	2362	2493	3344	0	0	0	0	0	0	25.62	26.05	28.83
2267	-0.89	-146.0	243.5	-12.4	407	2275	0.00	2.15	0.00	0.000	4	0.000	0.067	2359	3778	3344	0	0	0	0	0	0	28.83	25.64	28.83
2314	-0.89	-146.0	249.4	-12.8	411	2321	0.00	2.00	0.00	0.000	6	0.000	0.043	2358	2493	3344	0	0	0	0	0	0	28.83	26.06	28.83
2625	-0.89	-146.0	288.5	-11.5	442	2633	0.00	2.15	0.00	0.000	4	0.000	0.067	2349	3775	3346	0	0	0	0	0	0	28.83	25.63	28.83
2686	-0.87	-146.0	295.5	-12.6	447	2697	0.12	2.00	0.00	0.000	6	0.172	0.042	2378	2491	3343	0	0	0	0	0	0	25.68	26.06	28.83
2992	-0.87	-146.0	328.3	-9.7	478	2999	0.00	2.15	0.00	0.000	4	0.000	0.067	2371	3777	3343	0	0	0	0	0	0	28.83	25.63	28.83
3068	-0.87	-146.0	336.4	-10.5	485	3076	0.00	2.00	0.00	0.000	6	0.000	0.043	2370	2491	3343	0	0	0	0	0	0	28.83	26.08	28.83
3374	-0.87	-146.0	368.1	-10.6	515	3381	0.00	2.15	0.00	0.000	4	0.000	0.067	2361	3776	3343	0	0	0	0	0	0	28.83	25.63	28.83
3425	-0.87	-146.0	373.7	-11.9	519	3435	0.00	1.98	0.00	0.000	6	0.000	0.044	2361	2495	3342	0	0	0	0	0	0	28.83	26.08	28.83
3730	-0.87	-146.0	409.1	-11.6	550	3739	0.00	2.12	0.00	0.000	4	0.000	0.068	2352	3774	3342	0	0	0	0	0	0	28.83	25.62	28.83
3772	-0.87	-146.0	413.6	-12.1	553	3783	0.12	2.00	0.00	0.000	6	0.172	0.043	2380	2492	3342	0	0	0	0	0	0	25.70	26.08	28.83
4078	-0.89	-146.0	445.0	-10.1	584	4085	0.00	2.15	0.00	0.000	4	0.000	0.067	2373	3774	3341	0	0	0	0	0	0	28.83	25.62	28.83
4104	-0.91	-146.0	447.8	-10.2	586	4112	0.00	1.98	0.00	0.000	6	0.000	0.044	2372	2493	3341	0	0	0	0	0	0	28.83	26.10	28.83
4409	-0.91	-146.0	480.0	-10.6	616	4417	0.00	2.15	0.00	0.000	4	0.000	0.067	2361	3774	3341	0	0	0	0	0	0	28.83	25.63	28.83
4486	-0.91	-146.0	488.4	-11.0	623	4493	0.00	1.98	0.00	0.000	6	0.000	0.044	2360	2500	3340	0	0	0	0	0	0	28.83	26.08	28.83
4791	-0.91	-146.0	520.8	-10.9	653	4797	0.00	0.00	0.00	0.000	6	0.000	0.000	2364	2495	3343	0	0	0	0	0	0	28.83	28.83	28.83
4960	end dive: TARGET_DEPTH_EXCEEDED
state	4960	begin apogee
4963	-0.17	0.0	539.2	-11.1	670	5098	0.75	0.00	125.97	0.967	6	0.136	0.000	2593	2248	2738	0	0	0	0	0	0	25.31	28.83	23.27
5099	end apogee: CONTROL_FINISHED_OK
state	5099	begin climb
5100	0.77	146.0	544.9	0.0	683	5245	0.88	0.00	131.23	0.945	6	0.056	0.000	2909	2249	2140	0	0	0	0	0	0	24.49	28.83	22.95
5541	0.71	146.0	512.8	10.4	728	5549	0.00	2.33	0.00	0.000	4	0.000	0.050	2920	846	2131	0	0	0	0	0	0	28.83	25.16	28.83
5649	0.64	146.0	501.5	10.4	738	5663	0.20	2.30	0.00	0.000	6	0.168	0.045	2872	2254	2129	0	0	0	0	0	0	24.89	25.29	28.83
5959	0.62	149.7	471.5	9.8	769	5964	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2255	2130	0	0	0	0	0	0	28.83	28.83	28.83
6259	0.62	170.9	442.1	9.0	799	6286	0.00	0.00	21.50	0.864	6	0.000	0.000	2871	2254	2040	0	0	0	0	0	0	28.83	28.83	24.29
6580	0.62	172.8	409.4	9.9	831	6588	0.00	2.33	0.00	0.000	4	0.000	0.050	2880	835	2035	0	0	0	0	0	0	28.83	25.53	28.83
6627	0.62	172.8	404.5	10.4	835	6635	0.00	2.28	0.00	0.000	6	0.000	0.046	2880	2251	2034	0	0	0	0	0	0	28.83	25.56	28.83
6933	0.60	172.8	371.8	10.8	865	6938	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2251	2033	0	0	0	0	0	0	28.83	28.83	28.83
7233	0.58	172.8	340.5	10.6	895	7239	0.15	0.00	0.00	0.000	6	0.174	0.000	2844	2251	2033	0	0	0	0	0	0	25.65	28.83	28.83
7533	0.65	214.5	314.7	8.1	925	7582	0.00	2.42	38.25	0.822	4	0.000	0.063	2844	3651	1861	0	0	0	0	0	0	28.83	25.26	24.30
7610	0.69	236.8	308.4	9.0	932	7641	0.00	2.28	20.58	0.787	6	0.000	0.041	2853	2231	1771	0	0	0	0	0	0	28.83	25.44	24.08
7936	0.73	242.5	276.6	9.7	965	7952	0.12	2.28	5.57	0.633	4	0.098	0.050	2916	849	1749	0	0	0	0	0	0	25.62	25.47	24.26
8010	0.73	242.5	267.4	12.9	972	8018	0.00	2.30	0.00	0.000	6	0.000	0.046	2916	2253	1747	0	0	0	0	0	0	28.83	25.44	28.83
8316	0.71	242.5	226.2	13.4	1002	8321	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2253	1746	0	0	0	0	0	0	28.83	28.83	28.83
8616	0.68	242.5	185.9	13.8	1042	8627	0.12	2.30	0.00	0.000	4	0.180	0.048	2891	846	1745	0	0	0	0	0	0	25.64	25.65	28.83
8686	0.71	242.5	177.4	12.1	1055	8697	0.00	2.25	0.00	0.000	6	0.000	0.045	2891	2253	1745	0	0	0	0	0	0	28.83	25.67	28.83
8995	0.71	242.5	139.4	11.9	1116	9007	0.00	2.33	0.00	0.000	4	0.000	0.063	2895	3654	1744	0	0	0	0	0	0	28.83	25.59	28.83
9121	0.71	242.5	123.3	13.4	1140	9132	0.00	2.22	0.00	0.000	6	0.000	0.041	2902	2241	1744	0	0	0	0	0	0	28.83	25.87	28.83
9432	0.73	260.6	89.9	9.2	1201	9461	0.00	2.25	16.62	0.672	4	0.000	0.051	2909	857	1673	0	0	0	0	0	0	28.83	25.79	24.82
9566	0.75	269.5	77.1	9.6	1226	9583	0.00	2.22	8.95	0.622	6	0.000	0.045	2912	2256	1638	0	0	0	0	0	0	28.83	25.71	24.70
9883	0.78	269.5	43.8	10.2	1288	9890	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2251	1634	0	0	0	0	0	0	28.83	28.83	28.83
10190	0.91	357.5	17.2	5.9	1349	10271	0.12	2.40	73.12	0.641	4	0.100	0.061	2964	3649	1276	0	0	0	0	0	0	26.09	24.99	24.22
10358	end climb: SURFACE_DEPTH_REACHED
state	10358	begin surface coast
10384	end surface coast: CONTROL_FINISHED_OK
state	10384	begin surface