Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

MISSION 6 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 DEEPGLIDER 0

DIVE 26 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 44 DEEPGLIDERMB 0

N_DIVES 30 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 47 MOTHERBOARD 4

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 DEVICE1 2

D_FLARE 3 SM_CC 500 ROLL_MAXERRORS 1 DEVICE2 102

D_TGT 990 N_FILEKB 8 ROLL_ADJ_GAIN 1.5 DEVICE3 39

D_ABORT 1050 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 DEVICE4 -1

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MIN 440 DEVICE5 -1

D_BOOST 3 COMM_SEQ 0 VBD_MAX 3960 DEVICE6 -1

T_BOOST 0 PROTOCOL 9 C_VBD 2869 LOGGERS 0

D_FINISH 0 N_NOCOMM 1 VBD_DBAND 2 LOGGERDEVICE1 99

D_PITCH 0 NOCOMM_ACTION 0 VBD_CNV -0.24529999 LOGGERDEVICE2 117

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 LOGGERDEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 COMPASS_DEVICE 33

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 49

T_DIVE 300 CAPMAXSIZE 100000 UNCOM_BLEED 50 GPS_DEVICE 32

T_MISSION 350 HEAPDBG 0 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_ABORT 1440 T_GPS 15 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_TURN 225 N_GPS 20 AH0_24V 150 SIM_W 0

T_TURN_SAMPINT 5 T_GPS_ALMANAC 0 AH0_10V 110 SIM_PITCH 0

T_NO_W 120 T_GPS_CHARGE -39542.758 MINV_24V 19 SEABIRD_T_G 0.0043841996

T_LOITER 0 T_RSLEEP 2 MINV_10V 8 SEABIRD_T_H 0.00063541438

T_EPIRB 0 STROBE 0 FG_AHR_10V 0 SEABIRD_T_I 2.4687597e-05

USE_BATHY -7 RAFOS_PEAK_OFFSET 1.5 FG_AHR_24V 0 SEABIRD_T_J 2.6519353e-06

USE_ICE 0 RAFOS_CORR_THRESH 60 PHONE_SUPPLY 2 SEABIRD_C_G -9.9512653

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 PRESSURE_YINT -61.82621 SEABIRD_C_H 1.1266108

D_OFFGRID 1000 PITCH_MIN 225 PRESSURE_SLOPE 0.000116609 SEABIRD_C_I -0.0016982662

T_WATCHDOG 10 PITCH_MAX 3941 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020129427

RELAUNCH 1 C_PITCH 2330 TCM_PITCH_OFFSET 0 TM_RECORDABOVE 200.0

APOGEE_PITCH -5 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 TM_PROFILE 2.0

MAX_BUOY 175 PITCH_CNV 0.003125763 COMPASS_USE 0 TM_XMITPROFILE 2.0

COURSE_BIAS 0 P_OVSHOOT 0.039999999 ALTIM_BOTTOM_PING_RANGE 0 TM_UPLOADMAX 0.0

GLIDE_SLOPE 30 PITCH_GAIN 40 ALTIM_TOP_PING_RANGE 0 TM_STARTS 2.0

SPEED_FACTOR 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_TURN_MARGIN 0 TM_NFFT 256.0

RHO 1.0275 PITCH_AD_RATE 145 ALTIM_TOP_TURN_MARGIN 0 TM_NAVG 1.0

MASS 51861 PITCH_MAXERRORS 1 ALTIM_TOP_MIN_OBSTACLE 1 TM_PSD 0.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 ALTIM_PING_DEPTH 0 LA_RECORDABOVE 100.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 10 LA_PROFILE 2.0

KALMAN_USE 2 ROLL_MIN 209 ALTIM_FREQUENCY 13 LA_XMITPROFILE 2.0

HD_A 0.003 ROLL_MAX 3785 ALTIM_PULSE 3 LA_UPLOADMAX 10000.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_SENSITIVITY 2 LA_STARTS 12.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2600 XPDR_VALID 2

HEADING -1 C_ROLL_CLIMB 2270 XPDR_INHIBIT 90

ESCAPE_HEADING 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 128 D_SURF 3 PITCH_ADJ_DBAND 0 SURFACE_URGENCY_TRY 0

AH0_10V 110 D_TGT 990 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_AD_RATE 145 TCM_ROLL_OFFSET 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 TGT_AUTO_DEFAULT 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 TGT_DEFAULT_LAT 4736

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_GAIN 40 TGT_DEFAULT_LON -12218

ALTIM_PING_DELTA 10 FG_AHR_24V 0 PITCH_MAX 3941 TM_NAVG 1.0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 TM_NFFT 256.0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 225 TM_PROFILE 2.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_TIMEOUT 15 TM_PSD 0.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.003 PRESSURE_SLOPE 0.000116609 TM_STARTS 2.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PRESSURE_YINT -61.82621 TM_UPLOADMAX 0.0

APOGEE_PITCH -5 HD_C 9.9999997e-06 PROTOCOL 9 TM_XMITPROFILE 2.0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_DEVICE -1 T_DIVE 300

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPUPLOAD 0 ID 181 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0 RHO 1.0275 T_GPS_CHARGE -39542.758

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_DBAND 0.029999999 T_LOITER 0

COMPASS_DEVICE 33 LA_PROFILE 2.0 ROLL_ADJ_GAIN 1.5 T_MISSION 350

COMPASS_USE 0 LA_RECORDABOVE 100.0 ROLL_AD_RATE 350 T_NO_W 120

COURSE_BIAS 0 LA_STARTS 12.0 ROLL_CNV 0.028270001 T_RSLEEP 2

C_PITCH 2330 LA_UPLOADMAX 10000.0 ROLL_DEG 40 T_TURN 225

C_ROLL_CLIMB 2270 LA_XMITPROFILE 2.0 ROLL_MAX 3785 T_TURN_SAMPINT 5

C_ROLL_DIVE 2600 LOGGERDEVICE1 99 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_VBD 2869 LOGGERDEVICE2 117 ROLL_MIN 209 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 R_PORT_OVSHOOT 44 USE_BATHY -7

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 47 USE_ICE 0

DEVICE2 102 MASS 51861 SEABIRD_C_G -9.9512653 VBD_BLEED_AD_RATE 8

DEVICE3 39 MAX_BUOY 175 SEABIRD_C_H 1.1266108 VBD_CNV -0.24529999

DEVICE4 -1 MINV_10V 8 SEABIRD_C_I -0.0016982662 VBD_DBAND 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_J 0.00020129427 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SEABIRD_T_G 0.0043841996 VBD_MAXERRORS 1

DIVE 26 MOTHERBOARD 4 SEABIRD_T_H 0.00063541438 VBD_MIN 440

D_ABORT 1050 NAV_MODE 2 SEABIRD_T_I 2.4687597e-05 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 NOCOMM_ACTION 0 SEABIRD_T_J 2.6519353e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_DIVES 30 SIM_PITCH 0 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SIM_W 0 XPDR_DEVICE 24

D_FLARE 3 N_GPS 20 SM_CC 500 XPDR_INHIBIT 90

D_NO_BLEED 200 N_NOCOMM 1 SPEED_FACTOR 1 XPDR_VALID 2

D_OFFGRID 1000 N_NOSURFACE 0 STROBE 0

D_PITCH 0 PHONE_DEVICE 49 SURFACE_URGENCY 0

D_SAFE 0 PHONE_SUPPLY 2 SURFACE_URGENCY_FORCE 0

Pre-dive calculations and measurements:

GPS1 150611,182837,2144.272,12000.661,33,1.3,34,-2.6 TGT_NAME W3

_CALLS 1 TGT_LATLONG 1900.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150611,183444,2144.246,12000.711,10,1.4,10,-2.6 MHEAD_RNG_PITCHd_Wd 201.5,304186,-17.6,-11.000

SPEED_LIMITS 0.191,0.287 D_GRID 2568

Post-dive calculations and measurements:

FINISH -0.2,1.021124 _10V_AH 10.2,4.952

SM_CCo 13338,47.92,0.061,0,0,829,500.17 FG_AHR_24Vo 0.000

SM_GC 0.63,0.00,0.00,47.92,0.000,0.000,0.061,204,2618,829,-6.64,0.51,500.17,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2136.49,12005.70,150611,141409 MEM 323168

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 83735,1238

HUMID 39.25 CAP_FILE_SIZE 140781,0

INTERNAL_PRESSURE 9.307 CFSIZE 260165632,248619008

TCM_TEMP 24.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.021, 6.8,1

_24V_AH 24.0,4.731 GPS 150611,221931,2142.900,11959.995,34,1.6,35,-2.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 243 95.31 SBE_CT 859 24 494.81

Roll_motor 105 55 141.27 AA4330 1884 33 1492.36

VBD_pump_during_apogee 444 1129 12041.62 WL_BB2F 1628 105 4103.56

VBD_pump_during_surface 47 61 70.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 76.01 nil 0 0 0.00

Iridium_during_connect 38 160 148.49 TMicro 0 0 0.00

Iridium_during_xfer 162 223 869.60 LAB 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.52

TT8 3118 19 629.78

LPSleep 6502 2 145.26

TT8_Active 546 19 110.39

TT8_Sampling 3292 39 1336.77

TT8_CF8 285 45 133.27

TT8_Kalman 0 0 0.00

Analog_circuits 1771 12 216.87

GPS_charging 0 0 0.00

Compass 2171 15 332.22

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.65 -170.3 0.0 0.0 0 85 0.00 0.00 -66.72 0.000 2 0.000 0.000 189 2627 2651 0 0 0 0 0 0

88 -0.65 -170.3 3.7 -6.4 9 120 7.97 2.20 -16.70 0.000 4 0.243 0.048 2111 1195 3567 0 0 0 0 0 0

221 -0.65 -170.3 51.8 -28.6 31 230 0.00 2.22 0.00 0.000 6 0.000 0.047 2110 2576 3568 0 0 0 0 0 0

423 -0.65 -170.3 123.7 -30.4 68 431 0.00 2.12 0.00 0.000 4 0.000 0.031 2111 1183 3569 0 0 0 0 0 0

444 -0.65 -170.3 130.3 -29.4 71 453 0.00 2.22 0.00 0.000 6 0.000 0.045 2100 2579 3568 0 0 0 0 0 0

647 -0.65 -170.3 176.9 -19.7 108 655 0.00 1.88 0.00 0.000 4 0.000 0.047 2090 3778 3570 0 0 0 0 0 0

690 -0.65 -170.3 184.6 -17.4 115 699 0.00 1.85 0.00 0.000 6 0.000 0.028 2090 2554 3570 0 0 0 0 0 0

892 -0.65 -170.3 231.6 -26.5 152 901 0.12 2.05 0.00 0.000 4 0.189 0.032 2121 1194 3571 0 0 0 0 0 0

1027 -0.65 -170.3 257.9 -17.1 172 1031 0.00 2.10 0.00 0.000 6 0.000 0.039 2114 2564 3571 0 0 0 0 0 0

1357 -0.65 -170.3 323.8 -20.6 203 1361 0.00 1.85 0.00 0.000 4 0.000 0.049 2111 3781 3571 0 0 0 0 0 0

1403 -0.65 -170.3 332.5 -18.7 207 1407 0.00 1.83 0.00 0.000 6 0.000 0.029 2112 2564 3569 0 0 0 0 0 0

1734 -0.65 -170.3 398.1 -18.9 238 1737 0.00 1.88 0.00 0.000 4 0.000 0.050 2111 3778 3569 0 0 0 0 0 0

1772 -0.65 -170.3 405.3 -18.0 241 1779 0.00 1.80 0.00 0.000 6 0.000 0.031 2111 2582 3569 0 0 0 0 0 0

2100 -0.65 -170.3 456.0 -16.1 272 2103 0.00 2.03 0.00 0.000 4 0.000 0.036 2111 1203 3566 0 0 0 0 0 0

2156 -0.65 -170.3 464.3 -13.3 277 2160 0.00 2.10 0.00 0.000 6 0.000 0.043 2112 2571 3566 0 0 0 0 0 0

2483 -0.65 -170.3 509.6 -14.0 307 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2572 3563 0 0 0 0 0 0

2801 -0.65 -170.3 559.1 -16.9 337 2802 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2572 3561 0 0 0 0 0 0

3115 -0.65 -170.3 615.8 -17.6 363 3116 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2574 3558 0 0 0 0 0 0

3424 -0.65 -170.3 663.2 -13.9 378 3426 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2574 3556 0 0 0 0 0 0

3734 -0.65 -170.3 701.0 -10.9 393 3738 0.00 2.08 0.00 0.000 4 0.000 0.038 2111 1195 3553 0 0 0 0 0 0

3822 -0.65 -170.3 708.0 -7.1 397 3826 0.00 2.12 0.00 0.000 6 0.000 0.045 2110 2567 3552 0 0 0 0 0 0

4149 -0.65 -170.3 731.4 -7.4 413 4153 0.00 1.88 0.00 0.000 4 0.000 0.056 2111 3786 3550 0 0 0 0 0 0

4173 -0.65 -170.3 733.1 -7.3 414 4177 0.00 1.80 0.00 0.000 6 0.000 0.034 2111 2573 3550 0 0 0 0 0 0

4506 -0.65 -170.3 759.8 -9.0 430 4510 0.00 2.05 0.00 0.000 4 0.000 0.041 2111 1196 3547 0 0 0 0 0 0

4590 -0.65 -170.3 767.6 -8.5 433 4597 0.00 2.15 0.00 0.000 6 0.000 0.047 2111 2568 3546 0 0 0 0 0 0

4906 -0.65 -170.3 799.7 -11.4 449 4910 0.00 2.08 0.00 0.000 4 0.000 0.041 2112 1198 3544 0 0 0 0 0 0

4961 -0.65 -170.3 806.7 -11.5 451 4965 0.00 2.12 0.00 0.000 6 0.000 0.047 2111 2567 3544 0 0 0 0 0 0

5283 -0.65 -170.3 848.3 -13.5 467 5284 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2568 3542 0 0 0 0 0 0

5592 -0.65 -170.3 887.9 -12.2 482 5593 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2568 3540 0 0 0 0 0 0

5903 -0.65 -170.3 926.9 -12.8 497 5905 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2568 3539 0 0 0 0 0 0

6211 -0.65 -170.3 966.8 -12.7 512 6213 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2568 3536 0 0 0 0 0 0

6436 end dive: TARGET_DEPTH_EXCEEDED

state 6436 begin apogee

6442 -0.12 0.0 992.1 10.8 523 6581 0.52 0.00 132.43 1.130 4 0.129 0.000 2285 2267 2871 0 0 0 0 0 0

6581 end apogee: CONTROL_FINISHED_OK

state 6581 begin climb

6584 0.65 170.3 997.9 0.0 529 6735 0.73 2.40 141.65 1.101 4 0.046 0.051 2558 3684 2174 0 0 0 0 0 0

6937 0.65 170.3 945.8 21.0 545 6941 0.00 2.22 0.00 0.000 6 0.000 0.036 2568 2269 2164 0 0 0 0 0 0

7259 0.65 170.3 880.4 20.3 561 7263 0.00 2.25 0.00 0.000 4 0.000 0.049 2568 3685 2159 0 0 0 0 0 0

7422 0.65 170.3 843.8 22.6 568 7427 0.15 2.20 0.00 0.000 6 0.211 0.036 2545 2260 2162 0 0 0 0 0 0

7744 0.65 170.3 782.2 19.1 584 7748 0.00 2.15 0.00 0.000 4 0.000 0.046 2554 856 2156 0 0 0 0 0 0

8001 0.65 170.3 733.4 18.8 595 8010 0.00 2.20 0.00 0.000 6 0.000 0.042 2554 2265 2155 0 0 0 0 0 0

8318 0.65 170.3 674.4 18.4 611 8322 0.00 2.17 0.00 0.000 4 0.000 0.044 2563 853 2154 0 0 0 0 0 0

8538 0.65 170.3 633.4 18.1 621 8542 0.00 2.12 0.00 0.000 6 0.000 0.042 2563 2229 2154 0 0 0 0 0 0

8860 0.65 170.3 569.9 19.8 643 8863 0.00 2.10 0.00 0.000 4 0.000 0.044 2572 856 2153 0 0 0 0 0 0

9039 0.65 170.3 535.1 18.3 658 9046 0.12 2.10 0.00 0.000 6 0.184 0.043 2543 2205 2153 0 0 0 0 0 0

9364 0.65 170.3 485.5 14.4 689 9367 0.00 2.08 0.00 0.000 4 0.000 0.044 2551 863 2152 0 0 0 0 0 0

9446 0.65 170.3 473.3 13.8 696 9453 0.00 2.10 0.00 0.000 6 0.000 0.042 2551 2193 2152 0 0 0 0 0 0

9772 0.65 170.3 430.5 12.5 727 9775 0.00 2.03 0.00 0.000 4 0.000 0.043 2560 862 2151 0 0 0 0 0 0

9844 0.65 170.3 421.4 12.1 733 9851 0.00 2.05 0.00 0.000 6 0.000 0.041 2559 2190 2153 0 0 0 0 0 0

10170 0.65 170.3 378.2 13.0 764 10174 0.00 2.03 0.00 0.000 4 0.000 0.043 2569 860 2151 0 0 0 0 0 0

10283 0.65 170.3 363.7 12.5 774 10287 0.00 2.00 0.00 0.000 6 0.000 0.040 2569 2170 2155 0 0 0 0 0 0

10614 0.65 170.3 317.3 14.9 805 10618 0.00 2.00 0.00 0.000 4 0.000 0.043 2578 852 2151 0 0 0 0 0 0

10862 0.65 170.3 281.9 13.1 827 10867 0.15 1.95 0.00 0.000 6 0.177 0.039 2541 2136 2151 0 0 0 0 0 0

11191 0.68 199.9 247.9 9.7 859 11223 0.00 2.47 20.67 0.674 4 0.000 0.049 2540 3686 2053 0 0 0 0 0 0

11263 0.68 199.9 238.7 14.8 870 11271 0.00 2.42 0.00 0.000 6 0.000 0.035 2549 2130 2051 0 0 0 0 0 0

11464 0.68 199.9 208.6 13.6 907 11473 0.00 1.95 0.00 0.000 4 0.000 0.044 2559 867 2049 0 0 0 0 0 0

11554 0.68 199.9 196.0 14.4 923 11563 0.00 1.98 0.00 0.000 6 0.000 0.037 2559 2131 2049 0 0 0 0 0 0

11756 0.68 199.9 167.8 13.9 960 11764 0.00 1.98 0.00 0.000 4 0.000 0.041 2568 859 2048 0 0 0 0 0 0

12005 0.78 274.4 138.8 7.8 1006 12067 0.00 1.90 56.53 0.575 6 0.000 0.037 2568 2081 1750 0 0 0 0 0 0

12262 0.78 274.4 114.8 12.4 1050 12269 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2081 1741 0 0 0 0 0 0

12463 0.78 274.4 89.5 11.5 1087 12472 0.00 2.55 0.00 0.000 4 0.000 0.047 2568 3683 1740 0 0 0 0 0 0

12702 0.88 358.6 69.4 7.3 1131 12772 0.00 2.50 62.55 0.524 6 0.000 0.032 2579 2066 1405 0 0 0 0 0 0

12966 0.93 398.4 45.8 9.3 1176 13005 0.15 0.00 30.23 0.514 6 0.076 0.000 2651 2066 1243 0 0 0 0 0 0

13200 0.93 398.4 13.4 11.7 1217 13208 0.00 1.88 0.00 0.000 4 0.000 0.038 2660 854 1239 0 0 0 0 0 0

13291 end climb: SURFACE_DEPTH_REACHED

state 13291 begin surface coast

13320 end surface coast: CONTROL_FINISHED_OK

state 13320 begin surface

ID	181	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	DEEPGLIDER	0
DIVE	26	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	44	DEEPGLIDERMB	0
N_DIVES	30	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	47	MOTHERBOARD	4
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	DEVICE1	2
D_FLARE	3	SM_CC	500	ROLL_MAXERRORS	1	DEVICE2	102
D_TGT	990	N_FILEKB	8	ROLL_ADJ_GAIN	1.5	DEVICE3	39
D_ABORT	1050	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	DEVICE4	-1
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MIN	440	DEVICE5	-1
D_BOOST	3	COMM_SEQ	0	VBD_MAX	3960	DEVICE6	-1
T_BOOST	0	PROTOCOL	9	C_VBD	2869	LOGGERS	0
D_FINISH	0	N_NOCOMM	1	VBD_DBAND	2	LOGGERDEVICE1	99
D_PITCH	0	NOCOMM_ACTION	0	VBD_CNV	-0.24529999	LOGGERDEVICE2	117
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	LOGGERDEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	COMPASS_DEVICE	33
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	49
T_DIVE	300	CAPMAXSIZE	100000	UNCOM_BLEED	50	GPS_DEVICE	32
T_MISSION	350	HEAPDBG	0	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_ABORT	1440	T_GPS	15	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_TURN	225	N_GPS	20	AH0_24V	150	SIM_W	0
T_TURN_SAMPINT	5	T_GPS_ALMANAC	0	AH0_10V	110	SIM_PITCH	0
T_NO_W	120	T_GPS_CHARGE	-39542.758	MINV_24V	19	SEABIRD_T_G	0.0043841996
T_LOITER	0	T_RSLEEP	2	MINV_10V	8	SEABIRD_T_H	0.00063541438
T_EPIRB	0	STROBE	0	FG_AHR_10V	0	SEABIRD_T_I	2.4687597e-05
USE_BATHY	-7	RAFOS_PEAK_OFFSET	1.5	FG_AHR_24V	0	SEABIRD_T_J	2.6519353e-06
USE_ICE	0	RAFOS_CORR_THRESH	60	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9512653
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	PRESSURE_YINT	-61.82621	SEABIRD_C_H	1.1266108
D_OFFGRID	1000	PITCH_MIN	225	PRESSURE_SLOPE	0.000116609	SEABIRD_C_I	-0.0016982662
T_WATCHDOG	10	PITCH_MAX	3941	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020129427
RELAUNCH	1	C_PITCH	2330	TCM_PITCH_OFFSET	0	TM_RECORDABOVE	200.0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	TM_PROFILE	2.0
MAX_BUOY	175	PITCH_CNV	0.003125763	COMPASS_USE	0	TM_XMITPROFILE	2.0
COURSE_BIAS	0	P_OVSHOOT	0.039999999	ALTIM_BOTTOM_PING_RANGE	0	TM_UPLOADMAX	0.0
GLIDE_SLOPE	30	PITCH_GAIN	40	ALTIM_TOP_PING_RANGE	0	TM_STARTS	2.0
SPEED_FACTOR	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_TURN_MARGIN	0	TM_NFFT	256.0
RHO	1.0275	PITCH_AD_RATE	145	ALTIM_TOP_TURN_MARGIN	0	TM_NAVG	1.0
MASS	51861	PITCH_MAXERRORS	1	ALTIM_TOP_MIN_OBSTACLE	1	TM_PSD	0.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	ALTIM_PING_DEPTH	0	LA_RECORDABOVE	100.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	10	LA_PROFILE	2.0
KALMAN_USE	2	ROLL_MIN	209	ALTIM_FREQUENCY	13	LA_XMITPROFILE	2.0
HD_A	0.003	ROLL_MAX	3785	ALTIM_PULSE	3	LA_UPLOADMAX	10000.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_SENSITIVITY	2	LA_STARTS	12.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2600	XPDR_VALID	2
HEADING	-1	C_ROLL_CLIMB	2270	XPDR_INHIBIT	90
ESCAPE_HEADING	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003

GPS1	150611,182837,2144.272,12000.661,33,1.3,34,-2.6	TGT_NAME	W3
_CALLS	1	TGT_LATLONG	1900.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150611,183444,2144.246,12000.711,10,1.4,10,-2.6	MHEAD_RNG_PITCHd_Wd	201.5,304186,-17.6,-11.000
SPEED_LIMITS	0.191,0.287	D_GRID	2568

FINISH	-0.2,1.021124	_10V_AH	10.2,4.952
SM_CCo	13338,47.92,0.061,0,0,829,500.17	FG_AHR_24Vo	0.000
SM_GC	0.63,0.00,0.00,47.92,0.000,0.000,0.061,204,2618,829,-6.64,0.51,500.17,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2136.49,12005.70,150611,141409	MEM	323168
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	83735,1238
HUMID	39.25	CAP_FILE_SIZE	140781,0
INTERNAL_PRESSURE	9.307	CFSIZE	260165632,248619008
TCM_TEMP	24.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.021, 6.8,1
_24V_AH	24.0,4.731	GPS	150611,221931,2142.900,11959.995,34,1.6,35,-2.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	243	95.31	SBE_CT	859	24	494.81
Roll_motor	105	55	141.27	AA4330	1884	33	1492.36
VBD_pump_during_apogee	444	1129	12041.62	WL_BB2F	1628	105	4103.56
VBD_pump_during_surface	47	61	70.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	76.01	nil	0	0	0.00
Iridium_during_connect	38	160	148.49	TMicro	0	0	0.00
Iridium_during_xfer	162	223	869.60	LAB	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.52
TT8	3118	19	629.78
LPSleep	6502	2	145.26
TT8_Active	546	19	110.39
TT8_Sampling	3292	39	1336.77
TT8_CF8	285	45	133.27
TT8_Kalman	0	0	0.00
Analog_circuits	1771	12	216.87
GPS_charging	0	0	0.00
Compass	2171	15	332.22
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.65	-170.3	0.0	0.0	0	85	0.00	0.00	-66.72	0.000	2	0.000	0.000	189	2627	2651	0	0	0	0	0	0
88	-0.65	-170.3	3.7	-6.4	9	120	7.97	2.20	-16.70	0.000	4	0.243	0.048	2111	1195	3567	0	0	0	0	0	0
221	-0.65	-170.3	51.8	-28.6	31	230	0.00	2.22	0.00	0.000	6	0.000	0.047	2110	2576	3568	0	0	0	0	0	0
423	-0.65	-170.3	123.7	-30.4	68	431	0.00	2.12	0.00	0.000	4	0.000	0.031	2111	1183	3569	0	0	0	0	0	0
444	-0.65	-170.3	130.3	-29.4	71	453	0.00	2.22	0.00	0.000	6	0.000	0.045	2100	2579	3568	0	0	0	0	0	0
647	-0.65	-170.3	176.9	-19.7	108	655	0.00	1.88	0.00	0.000	4	0.000	0.047	2090	3778	3570	0	0	0	0	0	0
690	-0.65	-170.3	184.6	-17.4	115	699	0.00	1.85	0.00	0.000	6	0.000	0.028	2090	2554	3570	0	0	0	0	0	0
892	-0.65	-170.3	231.6	-26.5	152	901	0.12	2.05	0.00	0.000	4	0.189	0.032	2121	1194	3571	0	0	0	0	0	0
1027	-0.65	-170.3	257.9	-17.1	172	1031	0.00	2.10	0.00	0.000	6	0.000	0.039	2114	2564	3571	0	0	0	0	0	0
1357	-0.65	-170.3	323.8	-20.6	203	1361	0.00	1.85	0.00	0.000	4	0.000	0.049	2111	3781	3571	0	0	0	0	0	0
1403	-0.65	-170.3	332.5	-18.7	207	1407	0.00	1.83	0.00	0.000	6	0.000	0.029	2112	2564	3569	0	0	0	0	0	0
1734	-0.65	-170.3	398.1	-18.9	238	1737	0.00	1.88	0.00	0.000	4	0.000	0.050	2111	3778	3569	0	0	0	0	0	0
1772	-0.65	-170.3	405.3	-18.0	241	1779	0.00	1.80	0.00	0.000	6	0.000	0.031	2111	2582	3569	0	0	0	0	0	0
2100	-0.65	-170.3	456.0	-16.1	272	2103	0.00	2.03	0.00	0.000	4	0.000	0.036	2111	1203	3566	0	0	0	0	0	0
2156	-0.65	-170.3	464.3	-13.3	277	2160	0.00	2.10	0.00	0.000	6	0.000	0.043	2112	2571	3566	0	0	0	0	0	0
2483	-0.65	-170.3	509.6	-14.0	307	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2572	3563	0	0	0	0	0	0
2801	-0.65	-170.3	559.1	-16.9	337	2802	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2572	3561	0	0	0	0	0	0
3115	-0.65	-170.3	615.8	-17.6	363	3116	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2574	3558	0	0	0	0	0	0
3424	-0.65	-170.3	663.2	-13.9	378	3426	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2574	3556	0	0	0	0	0	0
3734	-0.65	-170.3	701.0	-10.9	393	3738	0.00	2.08	0.00	0.000	4	0.000	0.038	2111	1195	3553	0	0	0	0	0	0
3822	-0.65	-170.3	708.0	-7.1	397	3826	0.00	2.12	0.00	0.000	6	0.000	0.045	2110	2567	3552	0	0	0	0	0	0
4149	-0.65	-170.3	731.4	-7.4	413	4153	0.00	1.88	0.00	0.000	4	0.000	0.056	2111	3786	3550	0	0	0	0	0	0
4173	-0.65	-170.3	733.1	-7.3	414	4177	0.00	1.80	0.00	0.000	6	0.000	0.034	2111	2573	3550	0	0	0	0	0	0
4506	-0.65	-170.3	759.8	-9.0	430	4510	0.00	2.05	0.00	0.000	4	0.000	0.041	2111	1196	3547	0	0	0	0	0	0
4590	-0.65	-170.3	767.6	-8.5	433	4597	0.00	2.15	0.00	0.000	6	0.000	0.047	2111	2568	3546	0	0	0	0	0	0
4906	-0.65	-170.3	799.7	-11.4	449	4910	0.00	2.08	0.00	0.000	4	0.000	0.041	2112	1198	3544	0	0	0	0	0	0
4961	-0.65	-170.3	806.7	-11.5	451	4965	0.00	2.12	0.00	0.000	6	0.000	0.047	2111	2567	3544	0	0	0	0	0	0
5283	-0.65	-170.3	848.3	-13.5	467	5284	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2568	3542	0	0	0	0	0	0
5592	-0.65	-170.3	887.9	-12.2	482	5593	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2568	3540	0	0	0	0	0	0
5903	-0.65	-170.3	926.9	-12.8	497	5905	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2568	3539	0	0	0	0	0	0
6211	-0.65	-170.3	966.8	-12.7	512	6213	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2568	3536	0	0	0	0	0	0
6436	end dive: TARGET_DEPTH_EXCEEDED
state	6436	begin apogee
6442	-0.12	0.0	992.1	10.8	523	6581	0.52	0.00	132.43	1.130	4	0.129	0.000	2285	2267	2871	0	0	0	0	0	0
6581	end apogee: CONTROL_FINISHED_OK
state	6581	begin climb
6584	0.65	170.3	997.9	0.0	529	6735	0.73	2.40	141.65	1.101	4	0.046	0.051	2558	3684	2174	0	0	0	0	0	0
6937	0.65	170.3	945.8	21.0	545	6941	0.00	2.22	0.00	0.000	6	0.000	0.036	2568	2269	2164	0	0	0	0	0	0
7259	0.65	170.3	880.4	20.3	561	7263	0.00	2.25	0.00	0.000	4	0.000	0.049	2568	3685	2159	0	0	0	0	0	0
7422	0.65	170.3	843.8	22.6	568	7427	0.15	2.20	0.00	0.000	6	0.211	0.036	2545	2260	2162	0	0	0	0	0	0
7744	0.65	170.3	782.2	19.1	584	7748	0.00	2.15	0.00	0.000	4	0.000	0.046	2554	856	2156	0	0	0	0	0	0
8001	0.65	170.3	733.4	18.8	595	8010	0.00	2.20	0.00	0.000	6	0.000	0.042	2554	2265	2155	0	0	0	0	0	0
8318	0.65	170.3	674.4	18.4	611	8322	0.00	2.17	0.00	0.000	4	0.000	0.044	2563	853	2154	0	0	0	0	0	0
8538	0.65	170.3	633.4	18.1	621	8542	0.00	2.12	0.00	0.000	6	0.000	0.042	2563	2229	2154	0	0	0	0	0	0
8860	0.65	170.3	569.9	19.8	643	8863	0.00	2.10	0.00	0.000	4	0.000	0.044	2572	856	2153	0	0	0	0	0	0
9039	0.65	170.3	535.1	18.3	658	9046	0.12	2.10	0.00	0.000	6	0.184	0.043	2543	2205	2153	0	0	0	0	0	0
9364	0.65	170.3	485.5	14.4	689	9367	0.00	2.08	0.00	0.000	4	0.000	0.044	2551	863	2152	0	0	0	0	0	0
9446	0.65	170.3	473.3	13.8	696	9453	0.00	2.10	0.00	0.000	6	0.000	0.042	2551	2193	2152	0	0	0	0	0	0
9772	0.65	170.3	430.5	12.5	727	9775	0.00	2.03	0.00	0.000	4	0.000	0.043	2560	862	2151	0	0	0	0	0	0
9844	0.65	170.3	421.4	12.1	733	9851	0.00	2.05	0.00	0.000	6	0.000	0.041	2559	2190	2153	0	0	0	0	0	0
10170	0.65	170.3	378.2	13.0	764	10174	0.00	2.03	0.00	0.000	4	0.000	0.043	2569	860	2151	0	0	0	0	0	0
10283	0.65	170.3	363.7	12.5	774	10287	0.00	2.00	0.00	0.000	6	0.000	0.040	2569	2170	2155	0	0	0	0	0	0
10614	0.65	170.3	317.3	14.9	805	10618	0.00	2.00	0.00	0.000	4	0.000	0.043	2578	852	2151	0	0	0	0	0	0
10862	0.65	170.3	281.9	13.1	827	10867	0.15	1.95	0.00	0.000	6	0.177	0.039	2541	2136	2151	0	0	0	0	0	0
11191	0.68	199.9	247.9	9.7	859	11223	0.00	2.47	20.67	0.674	4	0.000	0.049	2540	3686	2053	0	0	0	0	0	0
11263	0.68	199.9	238.7	14.8	870	11271	0.00	2.42	0.00	0.000	6	0.000	0.035	2549	2130	2051	0	0	0	0	0	0
11464	0.68	199.9	208.6	13.6	907	11473	0.00	1.95	0.00	0.000	4	0.000	0.044	2559	867	2049	0	0	0	0	0	0
11554	0.68	199.9	196.0	14.4	923	11563	0.00	1.98	0.00	0.000	6	0.000	0.037	2559	2131	2049	0	0	0	0	0	0
11756	0.68	199.9	167.8	13.9	960	11764	0.00	1.98	0.00	0.000	4	0.000	0.041	2568	859	2048	0	0	0	0	0	0
12005	0.78	274.4	138.8	7.8	1006	12067	0.00	1.90	56.53	0.575	6	0.000	0.037	2568	2081	1750	0	0	0	0	0	0
12262	0.78	274.4	114.8	12.4	1050	12269	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2081	1741	0	0	0	0	0	0
12463	0.78	274.4	89.5	11.5	1087	12472	0.00	2.55	0.00	0.000	4	0.000	0.047	2568	3683	1740	0	0	0	0	0	0
12702	0.88	358.6	69.4	7.3	1131	12772	0.00	2.50	62.55	0.524	6	0.000	0.032	2579	2066	1405	0	0	0	0	0	0
12966	0.93	398.4	45.8	9.3	1176	13005	0.15	0.00	30.23	0.514	6	0.076	0.000	2651	2066	1243	0	0	0	0	0	0
13200	0.93	398.4	13.4	11.7	1217	13208	0.00	1.88	0.00	0.000	4	0.000	0.038	2660	854	1239	0	0	0	0	0	0
13291	end climb: SURFACE_DEPTH_REACHED
state	13291	begin surface coast
13320	end surface coast: CONTROL_FINISHED_OK
state	13320	begin surface