Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 210 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2800 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 210 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 57.182999 R_PORT_OVSHOOT 101 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -151 R_STBD_OVSHOOT 47 ALTIM_SENSITIVITY 4

D_TGT 800 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1020 SM_CC 400 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0093

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2839 DEVICE1 2

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 4 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 250 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_MISSION 280 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100740 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 1 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -5 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_MIN 202 MINV_24V 21 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2650 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043923887

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063351821

MAX_BUOY 200 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.5271875e-05

COURSE_BIAS 0 P_OVSHOOT 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.0515032e-06

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.7838888

SPEED_FACTOR 1 PITCH_GAIN 20 PRESSURE_YINT -62.66111 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52079 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00012479167

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.015 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 1.0

HD_A 0.0065996498 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0098683201 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 1.5339499e-05 C_ROLL_DIVE 2700 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 100 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 800 PA_POWERSOURCE 1.0 SEABIRD_T_J 3.0515032e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PHONE_SUPPLY -2 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0065996498 PITCH_MAX 3901 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0098683201 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.5339499e-05 PITCH_MIN 202 TGT_DEFAULT_LAT 57.182999

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 250

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -62.66111 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.079999998 T_MISSION 280

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 2650 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2800 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2700 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52079 RELAUNCH 1 UNCOM_BLEED 60

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 USE_BATHY -5

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 200 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 21 ROLL_DEG 40 VBD_DBAND 4

DEVICE5 -1 MISSION 8 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 210 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1020 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 101 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 47 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 100740 SEABIRD_C_G -9.7838888 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 1 SEABIRD_C_H 1.1409903 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.00071586663 XPDR_INHIBIT 90

D_OFFGRID 1000 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00012479167 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043923887

Pre-dive calculations and measurements:

GPS1 160815,070633,5709.3730,-15055.9404,36,0.9,36,16.6,0.0,0.0,10,8.9 SPEED_LIMITS 0.107,0.307

_CALLS 1 TGT_NAME WP11

_XMS_NAKs 0 TGT_LATLONG 5711.000,-15100.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.82 MHEAD_RNG_PITCHd_Wd 321.1,5062,-17.6,-10.667,-19.18,2802

_SM_ANGLEo -66.6 D_GRID 632

GPS2 160815,071054,5709.3369,-15055.9980,6,1.0,11,16.6,0.0,252.1,9,9.7

Post-dive calculations and measurements:

FINISH 0.7,1.018657 FG_AHR_24Vo 0.000

SM_CCo 10554,0.00,0.000,0,0,656,535.49 FG_AHR_10Vo 0.000

SM_GC 1.56,7.45,0.00,0.00,0.034,0.000,0.000,198,2803,656,-7.57,2.91,535.49,0,0,0,0,0,0,26.48,26.94,26.54 MEM 142568

IRIDIUM_FIX 5644.84,-15051.72,110608,165003 DATA_FILE_SIZE 30143,692

TT8_MAMPS 0.056175,0.056175 CAP_FILE_SIZE 100742,0

HUMID 44.72 CFSIZE 1024393216,976814080

INTERNAL_PRESSURE 8.7743 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 17.90 INTR 1,10484.84,0x236db2,7,5

XPDR_PINGS 1 CURRENT 0.144,220.98,1

_24V_AH 23.89,68.278 GPS 160815,100756,5710.448,-15058.585,35,0.8,40,16.6,0.4,262.9,10,5.7

_10V_AH 10.15,39.856

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 228 99.04 SBE_CT 471 23 270.18

Roll_motor 62 89 133.27 nil 0 0 0.00

VBD_pump_during_apogee 585 856 11974.38 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 0 0 0.00

Iridium_during_xfer 194 82 384.49 nil 0 0 0.00

Transponder_ping 0 420 2.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 26 3.16

TT8 0 0 0.00

LPSleep 8166 2 181.52

TT8_Active 623 18 116.77

TT8_Sampling 1918 43 840.47

TT8_CF8 98 60 60.35

TT8_Kalman 0 0 0.00

Analog_circuits 1572 16 255.31

GPS_charging 0 0 0.00

Compass 1352 8 113.16

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

10 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.90 -194.6 198 2802 1036 919 0.0 0.0 0 52 0.00 0.00 -38.12 0.000 16386 0.000 0.000 197 2802 1977 2020 1934 0 0 0 0 0 0 26.85 28.83 26.92

54 -0.90 -194.6 198 2804 2021 1935 3.3 -5.5 6 106 8.57 2.25 -39.62 0.000 18948 0.229 0.037 2340 1332 3635 3710 3560 0 0 0 0 0 0 25.72 24.34 26.10

331 -0.88 -194.6 2340 1333 3712 3568 58.0 -17.0 56 335 0.05 2.08 0.00 0.000 3078 0.154 0.025 2349 2696 3638 3710 3566 0 0 0 0 0 0 26.29 26.55 26.33

641 -0.88 -194.6 2350 2696 3712 3569 109.2 -15.1 87 644 0.00 2.03 0.00 0.000 516 0.000 0.022 2350 1341 3640 3711 3569 0 0 0 0 0 0 27.04 26.65 27.10

720 -0.88 -194.6 2351 1342 3712 3571 121.4 -14.8 95 724 0.00 2.05 0.00 0.000 1030 0.000 0.025 2347 2694 3640 3710 3570 0 0 0 0 0 0 26.66 26.62 26.68

1031 -0.88 -194.6 2348 2694 3713 3571 166.7 -13.0 126 1034 0.00 1.77 0.00 0.000 260 0.000 0.039 2339 3852 3640 3711 3570 0 0 0 0 0 0 27.09 26.51 27.16

1141 -0.88 -194.6 2339 3852 3712 3570 181.7 -14.1 137 1144 0.00 1.62 0.00 0.000 1030 0.000 0.021 2339 2695 3641 3711 3571 0 0 0 0 0 0 26.86 26.84 26.88

1451 -0.89 -194.6 2339 2695 3712 3571 226.3 -15.3 168 1451 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2695 3640 3710 3571 0 0 0 0 0 0 27.14 27.21 27.20

1760 -0.89 -194.6 2339 2697 3711 3572 275.5 -16.0 189 1764 0.00 2.00 0.00 0.000 516 0.000 0.022 2339 1341 3641 3711 3571 0 0 0 0 0 0 27.16 26.75 27.22

1790 -0.89 -194.6 2339 1341 3711 3570 280.1 -15.7 190 1795 0.03 2.05 0.00 0.000 3078 0.192 0.027 2340 2696 3640 3711 3570 0 0 0 0 0 0 26.52 26.70 26.54

2121 -0.91 -194.6 2341 2696 3711 3570 328.5 -14.4 201 2121 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2696 3640 3710 3570 0 0 0 0 0 0 27.17 27.24 27.23

2421 -0.93 -194.6 2340 2695 3710 3570 373.1 -14.9 211 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2696 3639 3709 3570 0 0 0 0 0 0 27.18 27.26 27.24

2721 -0.95 -194.6 2340 2696 3708 3570 415.0 -13.6 221 2725 0.00 1.77 0.00 0.000 260 0.000 0.041 2336 3839 3639 3707 3571 0 0 0 0 0 0 27.19 26.56 27.26

2770 -0.97 -194.6 2336 3841 3708 3572 418.9 -13.4 222 2774 0.00 1.62 0.00 0.000 1030 0.000 0.021 2336 2702 3638 3706 3570 0 0 0 0 0 0 26.91 26.90 26.94

3081 -0.99 -194.6 2336 2702 3707 3570 460.7 -12.8 233 3081 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2702 3637 3704 3570 0 0 0 0 0 0 27.20 27.27 27.26

3381 -1.01 -194.6 2336 2702 3705 3570 500.5 -13.5 243 3385 0.00 2.03 0.00 0.000 516 0.000 0.022 2336 1329 3636 3704 3569 0 0 0 0 0 0 27.20 26.75 27.27

3411 -1.03 -194.6 2336 1331 3705 3572 504.5 -13.5 244 3414 0.00 2.08 0.00 0.000 1030 0.000 0.027 2332 2697 3637 3704 3570 0 0 0 0 0 0 26.74 26.71 26.76

3741 -1.04 -194.6 2333 2699 3704 3572 551.2 -14.2 255 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2697 3636 3703 3570 0 0 0 0 0 0 27.20 27.28 27.27

4041 -1.06 -194.6 2332 2697 3703 3569 594.2 -14.3 265 4042 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2697 3636 3702 3570 0 0 0 0 0 0 27.21 27.28 27.27

4309 end dive: TARGET_DEPTH_EXCEEDED

state 4309 begin apogee

4313 -0.25 0.0 2332 2811 3701 3570 632.1 -13.8 274 4523 0.70 0.00 207.38 0.767 10246 0.112 0.000 2555 2811 2837 2873 2801 0 0 0 0 0 0 25.98 25.06 24.34

4523 end apogee: CONTROL_FINISHED_OK

state 4523 begin climb

4525 0.90 194.6 2556 2812 2868 2796 642.4 0.0 281 4687 1.05 2.20 154.60 0.856 11012 0.067 0.019 2931 1426 2038 2076 2001 0 0 0 0 0 0 25.20 24.37 23.89

4911 0.91 274.2 2931 1426 2066 1988 633.2 7.7 294 4981 0.00 2.12 65.15 0.851 9222 0.000 0.025 2931 2791 1719 1760 1678 0 0 0 0 0 0 26.15 26.12 24.56

5296 0.91 284.5 2931 2791 1745 1654 593.9 10.3 307 5301 0.00 1.62 1.77 0.202 8452 0.000 0.038 2931 3854 1680 1725 1635 0 0 0 0 0 0 26.67 25.83 25.67

5382 0.91 284.5 2932 3854 1741 1646 584.5 10.8 310 5385 0.00 1.52 0.00 0.000 1030 0.000 0.022 2932 2792 1693 1740 1646 0 0 0 0 0 0 26.55 26.53 26.57

5711 0.91 315.0 2932 2794 1741 1647 552.1 9.5 321 5751 0.00 1.70 34.28 0.820 8452 0.000 0.040 2931 3847 1544 1588 1500 0 0 0 0 0 0 26.91 25.96 25.20

5786 0.91 336.2 2931 3847 1584 1491 545.9 9.9 323 5810 0.00 1.52 19.00 0.815 9222 0.000 0.021 2931 2804 1462 1508 1417 0 0 0 0 0 0 26.29 26.27 24.96

6132 0.93 336.2 2931 2804 1497 1401 503.8 12.1 335 6135 0.00 2.08 0.00 0.000 516 0.000 0.024 2931 1423 1449 1496 1402 0 0 0 0 0 0 26.75 26.45 26.82

6171 0.96 336.2 2932 1419 1497 1402 500.4 11.9 336 6175 0.00 2.12 0.00 0.000 1030 0.000 0.026 2931 2794 1448 1495 1402 0 0 0 0 0 0 26.48 26.46 26.53

6492 0.98 336.2 2931 2793 1496 1400 463.1 11.3 347 6496 0.05 1.65 0.00 0.000 2308 0.171 0.040 2972 3853 1448 1495 1401 0 0 0 0 0 0 26.79 26.49 26.79

6516 1.01 336.2 2972 3852 1495 1400 463.1 11.3 347 6524 0.00 1.50 0.00 0.000 1030 0.000 0.021 2972 2793 1447 1494 1400 0 0 0 0 0 0 26.73 26.70 26.74

6821 1.01 336.2 2973 2794 1495 1402 419.5 13.1 358 6822 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2793 1447 1494 1400 0 0 0 0 0 0 27.01 27.08 27.08

7121 1.01 336.2 2972 2794 1494 1401 381.9 12.7 368 7125 0.00 1.65 0.00 0.000 260 0.000 0.040 2972 3845 1446 1493 1400 0 0 0 0 0 0 27.06 26.57 27.13

7176 1.01 336.2 2972 3845 1494 1399 377.7 13.1 369 7184 0.00 1.50 0.00 0.000 1030 0.000 0.021 2972 2790 1446 1493 1400 0 0 0 0 0 0 26.83 26.82 26.85

7482 1.01 336.2 2972 2790 1494 1400 334.6 12.7 380 7482 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2790 1446 1493 1400 0 0 0 0 0 0 27.10 27.17 27.16

7781 1.01 336.2 2972 2790 1494 1399 296.6 12.6 390 7785 0.00 1.67 0.00 0.000 260 0.000 0.041 2972 3855 1446 1493 1400 0 0 0 0 0 0 27.13 26.59 27.19

7851 0.99 336.2 2972 3855 1493 1399 288.6 12.9 392 7855 0.00 1.50 0.00 0.000 1030 0.000 0.022 2977 2795 1445 1492 1399 0 0 0 0 0 0 26.86 26.86 26.89

8161 0.99 336.2 2978 2796 1494 1400 247.4 12.9 404 8162 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2795 1445 1492 1399 0 0 0 0 0 0 27.15 27.22 27.21

8462 0.99 336.2 2977 2794 1493 1398 207.8 12.6 434 8466 0.00 1.62 0.00 0.000 260 0.000 0.041 2977 3859 1446 1493 1399 0 0 0 0 0 0 27.16 26.60 27.22

8502 0.96 336.2 2977 3858 1494 1399 202.6 13.0 438 8506 0.00 1.50 0.00 0.000 1030 0.000 0.023 2984 2794 1446 1493 1399 0 0 0 0 0 0 26.90 26.87 26.91

8811 0.96 336.2 2984 2794 1494 1399 164.9 12.1 469 8816 0.00 2.03 0.00 0.000 516 0.000 0.023 2994 1428 1446 1493 1399 0 0 0 0 0 0 27.17 26.77 27.23

8836 0.96 336.2 2994 1428 1493 1401 162.5 12.0 471 8843 0.05 2.10 0.00 0.000 5126 0.135 0.027 2978 2808 1446 1493 1399 0 0 0 0 0 0 26.48 26.71 26.53

9141 0.96 336.2 2978 2808 1493 1399 128.6 11.0 502 9146 0.00 1.62 0.00 0.000 260 0.000 0.041 2978 3851 1445 1492 1399 0 0 0 0 0 0 27.17 26.60 27.24

9341 0.94 336.2 2977 3851 1493 1398 104.4 12.0 522 9346 0.05 1.48 0.00 0.000 5126 0.151 0.022 2968 2811 1444 1491 1398 0 0 0 0 0 0 26.58 26.89 26.62

9652 0.97 372.0 2968 2811 1493 1398 73.3 9.4 553 9693 0.00 2.03 34.92 0.529 8708 0.000 0.023 2971 1430 1314 1360 1269 0 0 0 0 0 0 27.19 26.33 25.70

9783 1.01 382.5 2971 1430 1353 1262 60.5 10.3 566 9794 0.00 2.10 2.88 0.431 9222 0.000 0.025 2972 2804 1283 1333 1234 0 0 0 0 0 0 26.51 26.49 25.14

10093 1.06 429.5 2970 2803 1343 1240 31.2 8.9 616 10117 0.00 0.00 22.27 0.213 8710 0.000 0.000 2971 2804 1086 1141 1031 0 0 0 0 0 0 26.96 26.18 25.84

10417 1.15 534.4 2972 2804 1151 1037 6.5 6.8 680 10463 0.12 0.00 43.28 0.149 10246 0.083 0.000 3045 2803 655 718 592 0 0 0 0 0 0 26.79 26.25 25.99

10466 end climb: SURFACE_DEPTH_REACHED

state 10466 begin surface coast

10481 end surface coast: CONTROL_FINISHED_OK

state 10481 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2800	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	210	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	57.182999	R_PORT_OVSHOOT	101	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-151	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	4
D_TGT	800	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1020	SM_CC	400	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0093
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2839	DEVICE1	2
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	4	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	250	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_MISSION	280	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100740	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	1	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-5	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
D_OFFGRID	1000	PITCH_MIN	202	MINV_24V	21	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2650	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043923887
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063351821
MAX_BUOY	200	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.5271875e-05
COURSE_BIAS	0	P_OVSHOOT	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.0515032e-06
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.7838888
SPEED_FACTOR	1	PITCH_GAIN	20	PRESSURE_YINT	-62.66111	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52079	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00012479167
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.015	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	1.0
HD_A	0.0065996498	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0098683201	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	1.5339499e-05	C_ROLL_DIVE	2700	ALTIM_TOP_TURN_MARGIN	0

GPS1	160815,070633,5709.3730,-15055.9404,36,0.9,36,16.6,0.0,0.0,10,8.9	SPEED_LIMITS	0.107,0.307
_CALLS	1	TGT_NAME	WP11
_XMS_NAKs	0	TGT_LATLONG	5711.000,-15100.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.82	MHEAD_RNG_PITCHd_Wd	321.1,5062,-17.6,-10.667,-19.18,2802
_SM_ANGLEo	-66.6	D_GRID	632
GPS2	160815,071054,5709.3369,-15055.9980,6,1.0,11,16.6,0.0,252.1,9,9.7

FINISH	0.7,1.018657	FG_AHR_24Vo	0.000
SM_CCo	10554,0.00,0.000,0,0,656,535.49	FG_AHR_10Vo	0.000
SM_GC	1.56,7.45,0.00,0.00,0.034,0.000,0.000,198,2803,656,-7.57,2.91,535.49,0,0,0,0,0,0,26.48,26.94,26.54	MEM	142568
IRIDIUM_FIX	5644.84,-15051.72,110608,165003	DATA_FILE_SIZE	30143,692
TT8_MAMPS	0.056175,0.056175	CAP_FILE_SIZE	100742,0
HUMID	44.72	CFSIZE	1024393216,976814080
INTERNAL_PRESSURE	8.7743	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	17.90	INTR	1,10484.84,0x236db2,7,5
XPDR_PINGS	1	CURRENT	0.144,220.98,1
_24V_AH	23.89,68.278	GPS	160815,100756,5710.448,-15058.585,35,0.8,40,16.6,0.4,262.9,10,5.7
_10V_AH	10.15,39.856

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	228	99.04	SBE_CT	471	23	270.18
Roll_motor	62	89	133.27	nil	0	0	0.00
VBD_pump_during_apogee	585	856	11974.38	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	0	0	0.00
Iridium_during_xfer	194	82	384.49	nil	0	0	0.00
Transponder_ping	0	420	2.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	26	3.16
TT8	0	0	0.00
LPSleep	8166	2	181.52
TT8_Active	623	18	116.77
TT8_Sampling	1918	43	840.47
TT8_CF8	98	60	60.35
TT8_Kalman	0	0	0.00
Analog_circuits	1572	16	255.31
GPS_charging	0	0	0.00
Compass	1352	8	113.16
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
10	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.90	-194.6	198	2802	1036	919	0.0	0.0	0	52	0.00	0.00	-38.12	0.000	16386	0.000	0.000	197	2802	1977	2020	1934	0	0	0	0	0	0	26.85	28.83	26.92
54	-0.90	-194.6	198	2804	2021	1935	3.3	-5.5	6	106	8.57	2.25	-39.62	0.000	18948	0.229	0.037	2340	1332	3635	3710	3560	0	0	0	0	0	0	25.72	24.34	26.10
331	-0.88	-194.6	2340	1333	3712	3568	58.0	-17.0	56	335	0.05	2.08	0.00	0.000	3078	0.154	0.025	2349	2696	3638	3710	3566	0	0	0	0	0	0	26.29	26.55	26.33
641	-0.88	-194.6	2350	2696	3712	3569	109.2	-15.1	87	644	0.00	2.03	0.00	0.000	516	0.000	0.022	2350	1341	3640	3711	3569	0	0	0	0	0	0	27.04	26.65	27.10
720	-0.88	-194.6	2351	1342	3712	3571	121.4	-14.8	95	724	0.00	2.05	0.00	0.000	1030	0.000	0.025	2347	2694	3640	3710	3570	0	0	0	0	0	0	26.66	26.62	26.68
1031	-0.88	-194.6	2348	2694	3713	3571	166.7	-13.0	126	1034	0.00	1.77	0.00	0.000	260	0.000	0.039	2339	3852	3640	3711	3570	0	0	0	0	0	0	27.09	26.51	27.16
1141	-0.88	-194.6	2339	3852	3712	3570	181.7	-14.1	137	1144	0.00	1.62	0.00	0.000	1030	0.000	0.021	2339	2695	3641	3711	3571	0	0	0	0	0	0	26.86	26.84	26.88
1451	-0.89	-194.6	2339	2695	3712	3571	226.3	-15.3	168	1451	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2695	3640	3710	3571	0	0	0	0	0	0	27.14	27.21	27.20
1760	-0.89	-194.6	2339	2697	3711	3572	275.5	-16.0	189	1764	0.00	2.00	0.00	0.000	516	0.000	0.022	2339	1341	3641	3711	3571	0	0	0	0	0	0	27.16	26.75	27.22
1790	-0.89	-194.6	2339	1341	3711	3570	280.1	-15.7	190	1795	0.03	2.05	0.00	0.000	3078	0.192	0.027	2340	2696	3640	3711	3570	0	0	0	0	0	0	26.52	26.70	26.54
2121	-0.91	-194.6	2341	2696	3711	3570	328.5	-14.4	201	2121	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2696	3640	3710	3570	0	0	0	0	0	0	27.17	27.24	27.23
2421	-0.93	-194.6	2340	2695	3710	3570	373.1	-14.9	211	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2696	3639	3709	3570	0	0	0	0	0	0	27.18	27.26	27.24
2721	-0.95	-194.6	2340	2696	3708	3570	415.0	-13.6	221	2725	0.00	1.77	0.00	0.000	260	0.000	0.041	2336	3839	3639	3707	3571	0	0	0	0	0	0	27.19	26.56	27.26
2770	-0.97	-194.6	2336	3841	3708	3572	418.9	-13.4	222	2774	0.00	1.62	0.00	0.000	1030	0.000	0.021	2336	2702	3638	3706	3570	0	0	0	0	0	0	26.91	26.90	26.94
3081	-0.99	-194.6	2336	2702	3707	3570	460.7	-12.8	233	3081	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2702	3637	3704	3570	0	0	0	0	0	0	27.20	27.27	27.26
3381	-1.01	-194.6	2336	2702	3705	3570	500.5	-13.5	243	3385	0.00	2.03	0.00	0.000	516	0.000	0.022	2336	1329	3636	3704	3569	0	0	0	0	0	0	27.20	26.75	27.27
3411	-1.03	-194.6	2336	1331	3705	3572	504.5	-13.5	244	3414	0.00	2.08	0.00	0.000	1030	0.000	0.027	2332	2697	3637	3704	3570	0	0	0	0	0	0	26.74	26.71	26.76
3741	-1.04	-194.6	2333	2699	3704	3572	551.2	-14.2	255	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2697	3636	3703	3570	0	0	0	0	0	0	27.20	27.28	27.27
4041	-1.06	-194.6	2332	2697	3703	3569	594.2	-14.3	265	4042	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2697	3636	3702	3570	0	0	0	0	0	0	27.21	27.28	27.27
4309	end dive: TARGET_DEPTH_EXCEEDED
state	4309	begin apogee
4313	-0.25	0.0	2332	2811	3701	3570	632.1	-13.8	274	4523	0.70	0.00	207.38	0.767	10246	0.112	0.000	2555	2811	2837	2873	2801	0	0	0	0	0	0	25.98	25.06	24.34
4523	end apogee: CONTROL_FINISHED_OK
state	4523	begin climb
4525	0.90	194.6	2556	2812	2868	2796	642.4	0.0	281	4687	1.05	2.20	154.60	0.856	11012	0.067	0.019	2931	1426	2038	2076	2001	0	0	0	0	0	0	25.20	24.37	23.89
4911	0.91	274.2	2931	1426	2066	1988	633.2	7.7	294	4981	0.00	2.12	65.15	0.851	9222	0.000	0.025	2931	2791	1719	1760	1678	0	0	0	0	0	0	26.15	26.12	24.56
5296	0.91	284.5	2931	2791	1745	1654	593.9	10.3	307	5301	0.00	1.62	1.77	0.202	8452	0.000	0.038	2931	3854	1680	1725	1635	0	0	0	0	0	0	26.67	25.83	25.67
5382	0.91	284.5	2932	3854	1741	1646	584.5	10.8	310	5385	0.00	1.52	0.00	0.000	1030	0.000	0.022	2932	2792	1693	1740	1646	0	0	0	0	0	0	26.55	26.53	26.57
5711	0.91	315.0	2932	2794	1741	1647	552.1	9.5	321	5751	0.00	1.70	34.28	0.820	8452	0.000	0.040	2931	3847	1544	1588	1500	0	0	0	0	0	0	26.91	25.96	25.20
5786	0.91	336.2	2931	3847	1584	1491	545.9	9.9	323	5810	0.00	1.52	19.00	0.815	9222	0.000	0.021	2931	2804	1462	1508	1417	0	0	0	0	0	0	26.29	26.27	24.96
6132	0.93	336.2	2931	2804	1497	1401	503.8	12.1	335	6135	0.00	2.08	0.00	0.000	516	0.000	0.024	2931	1423	1449	1496	1402	0	0	0	0	0	0	26.75	26.45	26.82
6171	0.96	336.2	2932	1419	1497	1402	500.4	11.9	336	6175	0.00	2.12	0.00	0.000	1030	0.000	0.026	2931	2794	1448	1495	1402	0	0	0	0	0	0	26.48	26.46	26.53
6492	0.98	336.2	2931	2793	1496	1400	463.1	11.3	347	6496	0.05	1.65	0.00	0.000	2308	0.171	0.040	2972	3853	1448	1495	1401	0	0	0	0	0	0	26.79	26.49	26.79
6516	1.01	336.2	2972	3852	1495	1400	463.1	11.3	347	6524	0.00	1.50	0.00	0.000	1030	0.000	0.021	2972	2793	1447	1494	1400	0	0	0	0	0	0	26.73	26.70	26.74
6821	1.01	336.2	2973	2794	1495	1402	419.5	13.1	358	6822	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2793	1447	1494	1400	0	0	0	0	0	0	27.01	27.08	27.08
7121	1.01	336.2	2972	2794	1494	1401	381.9	12.7	368	7125	0.00	1.65	0.00	0.000	260	0.000	0.040	2972	3845	1446	1493	1400	0	0	0	0	0	0	27.06	26.57	27.13
7176	1.01	336.2	2972	3845	1494	1399	377.7	13.1	369	7184	0.00	1.50	0.00	0.000	1030	0.000	0.021	2972	2790	1446	1493	1400	0	0	0	0	0	0	26.83	26.82	26.85
7482	1.01	336.2	2972	2790	1494	1400	334.6	12.7	380	7482	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2790	1446	1493	1400	0	0	0	0	0	0	27.10	27.17	27.16
7781	1.01	336.2	2972	2790	1494	1399	296.6	12.6	390	7785	0.00	1.67	0.00	0.000	260	0.000	0.041	2972	3855	1446	1493	1400	0	0	0	0	0	0	27.13	26.59	27.19
7851	0.99	336.2	2972	3855	1493	1399	288.6	12.9	392	7855	0.00	1.50	0.00	0.000	1030	0.000	0.022	2977	2795	1445	1492	1399	0	0	0	0	0	0	26.86	26.86	26.89
8161	0.99	336.2	2978	2796	1494	1400	247.4	12.9	404	8162	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2795	1445	1492	1399	0	0	0	0	0	0	27.15	27.22	27.21
8462	0.99	336.2	2977	2794	1493	1398	207.8	12.6	434	8466	0.00	1.62	0.00	0.000	260	0.000	0.041	2977	3859	1446	1493	1399	0	0	0	0	0	0	27.16	26.60	27.22
8502	0.96	336.2	2977	3858	1494	1399	202.6	13.0	438	8506	0.00	1.50	0.00	0.000	1030	0.000	0.023	2984	2794	1446	1493	1399	0	0	0	0	0	0	26.90	26.87	26.91
8811	0.96	336.2	2984	2794	1494	1399	164.9	12.1	469	8816	0.00	2.03	0.00	0.000	516	0.000	0.023	2994	1428	1446	1493	1399	0	0	0	0	0	0	27.17	26.77	27.23
8836	0.96	336.2	2994	1428	1493	1401	162.5	12.0	471	8843	0.05	2.10	0.00	0.000	5126	0.135	0.027	2978	2808	1446	1493	1399	0	0	0	0	0	0	26.48	26.71	26.53
9141	0.96	336.2	2978	2808	1493	1399	128.6	11.0	502	9146	0.00	1.62	0.00	0.000	260	0.000	0.041	2978	3851	1445	1492	1399	0	0	0	0	0	0	27.17	26.60	27.24
9341	0.94	336.2	2977	3851	1493	1398	104.4	12.0	522	9346	0.05	1.48	0.00	0.000	5126	0.151	0.022	2968	2811	1444	1491	1398	0	0	0	0	0	0	26.58	26.89	26.62
9652	0.97	372.0	2968	2811	1493	1398	73.3	9.4	553	9693	0.00	2.03	34.92	0.529	8708	0.000	0.023	2971	1430	1314	1360	1269	0	0	0	0	0	0	27.19	26.33	25.70
9783	1.01	382.5	2971	1430	1353	1262	60.5	10.3	566	9794	0.00	2.10	2.88	0.431	9222	0.000	0.025	2972	2804	1283	1333	1234	0	0	0	0	0	0	26.51	26.49	25.14
10093	1.06	429.5	2970	2803	1343	1240	31.2	8.9	616	10117	0.00	0.00	22.27	0.213	8710	0.000	0.000	2971	2804	1086	1141	1031	0	0	0	0	0	0	26.96	26.18	25.84
10417	1.15	534.4	2972	2804	1151	1037	6.5	6.8	680	10463	0.12	0.00	43.28	0.149	10246	0.083	0.000	3045	2803	655	718	592	0	0	0	0	0	0	26.79	26.25	25.99
10466	end climb: SURFACE_DEPTH_REACHED
state	10466	begin surface coast
10481	end surface coast: CONTROL_FINISHED_OK
state	10481	begin surface