Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 28 * 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 28 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 61 DEEPGLIDERMB 0

N_DIVES 35 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 31 MOTHERBOARD 4

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 DEVICE1 2

D_FLARE 3 SM_CC 475 ROLL_MAXERRORS 1 DEVICE2 102

D_TGT 990 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEVICE3 39

D_ABORT 1050 FILEMGR 0 ROLL_ADJ_DBAND 0 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 -39545.27 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 2315 TCM_PITCH_OFFSET 0 TM_RECORDABOVE 200.0

APOGEE_PITCH -8 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 -8 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 -39545.27

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS_DEVICE 33 LA_PROFILE 2.0 ROLL_ADJ_GAIN 0 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 2315 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 61 USE_BATHY -7

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 31 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 28 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 35 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 475 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 160611,022606,2140.762,12000.642,29,1.4,30,-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 0.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160611,023201,2140.743,12000.736,9,1.5,15,-2.6 MHEAD_RNG_PITCHd_Wd 199.0,297699,-17.6,-11.000

SPEED_LIMITS 0.191,0.287 D_GRID 2747

Post-dive calculations and measurements:

FINISH -0.3,1.021200 _10V_AH 10.2,5.243

SM_CCo 12308,14.48,0.063,0,0,932,475.15 FG_AHR_24Vo 0.000

SM_GC 0.87,0.00,0.00,14.48,0.000,0.000,0.063,209,2581,932,-6.58,-0.51,475.15,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2134.17,11959.36,150611,222241 MEM 323172

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 73763,1118

HUMID 41.41 CAP_FILE_SIZE 135258,0

INTERNAL_PRESSURE 9.35583 CFSIZE 260165632,248459264

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

XPDR_PINGS 0 CURRENT 0.109, 76.8,1

_24V_AH 24.0,4.998 GPS 160611,055907,2139.382,12000.742,37,0.9,38,-2.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 238 93.37 SBE_CT 776 24 447.04

Roll_motor 119 55 157.47 AA4330 1702 33 1348.51

VBD_pump_during_apogee 477 1138 13039.68 WL_BB2F 1383 105 3485.50

VBD_pump_during_surface 14 63 22.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.90 nil 0 0 0.00

Iridium_during_connect 16 160 64.07 TMicro 0 0 0.00

Iridium_during_xfer 167 223 898.13 LAB 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.16

TT8 2833 19 572.17

LPSleep 6018 2 134.43

TT8_Active 530 19 107.13

TT8_Sampling 3010 39 1222.23

TT8_CF8 276 45 128.98

TT8_Kalman 0 0 0.00

Analog_circuits 1699 12 208.07

GPS_charging 0 0 0.00

Compass 2017 15 308.69

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 84 0.00 0.00 -65.55 0.000 2 0.000 0.000 199 2577 2620 0 0 0 0 0 0

87 -0.65 -170.3 3.7 -5.0 9 120 7.80 2.08 -17.52 0.000 4 0.239 0.041 2096 1195 3566 0 0 0 0 0 0

166 -0.65 -170.3 33.7 -30.7 21 174 0.00 2.25 0.00 0.000 6 0.000 0.044 2086 2593 3566 0 0 0 0 0 0

367 -0.65 -170.3 115.7 -33.7 58 375 0.00 1.90 0.00 0.000 4 0.000 0.048 2077 3796 3568 0 0 0 0 0 0

416 -0.65 -170.3 132.7 -36.5 66 424 0.00 1.80 0.00 0.000 6 0.000 0.029 2077 2610 3569 0 0 0 0 0 0

617 -0.65 -170.3 203.2 -28.9 103 626 0.00 2.12 0.00 0.000 4 0.000 0.031 2077 1195 3569 0 0 0 0 0 0

778 -0.65 -170.3 230.1 -14.3 132 787 0.10 2.22 0.00 0.000 6 0.158 0.041 2098 2608 3570 0 0 0 0 0 0

978 -0.65 -170.3 263.8 -18.7 162 982 0.00 1.80 0.00 0.000 4 0.000 0.047 2091 3793 3571 0 0 0 0 0 0

1046 -0.65 -170.3 277.3 -19.3 168 1049 0.00 1.75 0.00 0.000 6 0.000 0.028 2091 2594 3571 0 0 0 0 0 0

1376 -0.65 -170.3 352.1 -20.0 199 1380 0.00 1.83 0.00 0.000 4 0.000 0.047 2082 3783 3570 0 0 0 0 0 0

1414 -0.65 -170.3 361.0 -22.6 202 1421 0.00 1.77 0.00 0.000 6 0.000 0.030 2082 2600 3570 0 0 0 0 0 0

1740 -0.65 -170.3 428.1 -21.2 233 1741 0.00 0.00 0.00 0.000 6 0.000 0.000 2082 2598 3568 0 0 0 0 0 0

2062 -0.65 -170.3 501.0 -21.2 263 2065 0.00 2.08 0.00 0.000 4 0.000 0.036 2082 1196 3565 0 0 0 0 0 0

2180 -0.65 -170.3 520.6 -14.0 273 2185 0.12 2.17 0.00 0.000 6 0.168 0.043 2102 2611 3564 0 0 0 0 0 0

2505 -0.65 -170.3 561.2 -12.3 303 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2612 3562 0 0 0 0 0 0

2825 -0.65 -170.3 598.4 -12.1 333 2829 0.00 2.12 0.00 0.000 4 0.000 0.037 2106 1198 3559 0 0 0 0 0 0

2897 -0.65 -170.3 606.9 -11.4 336 2901 0.00 2.17 0.00 0.000 6 0.000 0.044 2099 2608 3558 0 0 0 0 0 0

3219 -0.65 -170.3 657.4 -17.2 352 3223 0.00 2.12 0.00 0.000 4 0.000 0.038 2099 1199 3554 0 0 0 0 0 0

3246 -0.65 -170.3 662.4 -17.3 353 3250 0.00 2.17 0.00 0.000 6 0.000 0.045 2098 2609 3554 0 0 0 0 0 0

3568 -0.65 -170.3 717.0 -16.7 369 3569 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2610 3552 0 0 0 0 0 0

3877 -0.65 -170.3 759.1 -11.7 384 3881 0.00 2.12 0.00 0.000 4 0.000 0.039 2097 1201 3549 0 0 0 0 0 0

3918 -0.65 -170.3 763.2 -10.0 386 3922 0.00 2.20 0.00 0.000 6 0.000 0.047 2097 2605 3549 0 0 0 0 0 0

4245 -0.65 -170.3 798.2 -11.2 402 4249 0.00 1.83 0.00 0.000 4 0.000 0.055 2089 3780 3546 0 0 0 0 0 0

4283 -0.65 -170.3 802.7 -11.1 403 4291 0.00 1.80 0.00 0.000 6 0.000 0.034 2089 2599 3546 0 0 0 0 0 0

4599 -0.65 -170.3 843.8 -13.9 419 4603 0.00 2.10 0.00 0.000 4 0.000 0.041 2089 1193 3544 0 0 0 0 0 0

4654 -0.65 -170.3 851.9 -14.0 421 4662 0.00 2.22 0.00 0.000 6 0.000 0.047 2084 2599 3547 0 0 0 0 0 0

4971 -0.65 -170.3 902.8 -16.8 437 4975 0.00 2.12 0.00 0.000 4 0.000 0.041 2084 1196 3541 0 0 0 0 0 0

5020 -0.65 -170.3 911.2 -16.1 439 5024 0.00 2.17 0.00 0.000 6 0.000 0.047 2083 2599 3541 0 0 0 0 0 0

5342 -0.65 -170.3 964.1 -16.1 455 5346 0.00 2.15 0.00 0.000 4 0.000 0.041 2083 1193 3536 0 0 0 0 0 0

5385 -0.65 -170.3 970.9 -14.7 457 5389 0.00 2.20 0.00 0.000 6 0.000 0.047 2083 2610 3538 0 0 0 0 0 0

5526 end dive: TARGET_DEPTH_EXCEEDED

state 5526 begin apogee

5532 -0.20 0.0 991.1 14.6 464 5670 0.50 0.00 131.70 1.138 6 0.138 0.000 2244 2260 2870 0 0 0 0 0 0

5671 end apogee: CONTROL_FINISHED_OK

state 5671 begin climb

5673 0.65 170.3 997.8 0.0 470 5824 0.80 2.35 141.73 1.099 4 0.070 0.044 2536 877 2173 0 0 0 0 0 0

5986 0.65 170.3 959.7 16.8 484 5994 0.00 2.28 0.00 0.000 6 0.000 0.043 2536 2265 2167 0 0 0 0 0 0

6303 0.65 170.3 904.9 17.9 500 6307 0.00 2.17 0.00 0.000 4 0.000 0.044 2546 872 2161 0 0 0 0 0 0

6481 0.65 170.3 874.9 16.3 508 6485 0.00 2.22 0.00 0.000 6 0.000 0.043 2546 2289 2162 0 0 0 0 0 0

6808 0.65 170.3 821.7 16.4 524 6812 0.00 2.20 0.00 0.000 4 0.000 0.044 2556 863 2158 0 0 0 0 0 0

6920 0.65 170.3 803.2 15.7 529 6925 0.12 2.25 0.00 0.000 6 0.197 0.044 2528 2301 2158 0 0 0 0 0 0

7247 0.65 170.3 754.6 15.1 545 7251 0.00 2.20 0.00 0.000 4 0.000 0.044 2536 875 2153 0 0 0 0 0 0

7341 0.65 170.3 739.8 15.5 549 7345 0.00 2.15 0.00 0.000 6 0.000 0.041 2535 2271 2156 0 0 0 0 0 0

7669 0.65 170.3 683.0 18.1 565 7673 0.00 2.15 0.00 0.000 4 0.000 0.044 2546 874 2155 0 0 0 0 0 0

7860 0.65 170.3 647.4 18.8 573 7864 0.00 2.17 0.00 0.000 6 0.000 0.042 2546 2281 2155 0 0 0 0 0 0

8178 0.65 170.3 586.5 17.8 591 8182 0.00 2.15 0.00 0.000 4 0.000 0.044 2555 874 2154 0 0 0 0 0 0

8355 0.65 170.3 558.1 13.4 606 8362 0.00 2.17 0.00 0.000 6 0.000 0.041 2555 2280 2154 0 0 0 0 0 0

8681 0.65 170.3 516.0 11.8 637 8686 0.12 2.15 0.00 0.000 4 0.201 0.042 2534 870 2153 0 0 0 0 0 0

8870 0.69 204.2 497.4 9.5 653 8900 0.00 2.17 24.27 0.819 6 0.000 0.041 2534 2278 2037 0 0 0 0 0 0

9217 0.69 204.2 442.7 18.5 686 9221 0.00 2.20 0.00 0.000 4 0.000 0.042 2544 859 2031 0 0 0 0 0 0

9430 0.69 204.2 404.4 18.5 705 9434 0.00 2.17 0.00 0.000 6 0.000 0.041 2544 2269 2030 0 0 0 0 0 0

9756 0.69 204.2 352.8 13.4 735 9760 0.00 2.12 0.00 0.000 4 0.000 0.041 2554 874 2029 0 0 0 0 0 0

9822 0.69 204.2 344.2 12.3 740 9830 0.00 2.20 0.00 0.000 6 0.000 0.041 2554 2272 2027 0 0 0 0 0 0

10147 0.69 204.2 305.8 12.8 771 10151 0.00 2.12 0.00 0.000 4 0.000 0.041 2563 872 2029 0 0 0 0 0 0

10223 0.69 204.2 296.4 13.3 777 10227 0.00 2.15 0.00 0.000 6 0.000 0.040 2563 2277 2029 0 0 0 0 0 0

10551 0.69 204.2 236.5 18.2 813 10559 0.00 2.20 0.00 0.000 4 0.000 0.047 2563 3682 2029 0 0 0 0 0 0

10599 0.69 204.2 227.4 18.8 821 10608 0.10 2.15 0.00 0.000 6 0.171 0.034 2544 2285 2029 0 0 0 0 0 0

10802 0.75 253.3 204.9 8.9 858 10847 0.00 2.20 37.80 0.632 4 0.000 0.041 2552 861 1835 0 0 0 0 0 0

11026 0.75 253.3 179.3 13.7 897 11034 0.00 2.22 0.00 0.000 6 0.000 0.039 2552 2270 1829 0 0 0 0 0 0

11228 0.75 253.3 148.1 15.9 934 11237 0.00 2.20 0.00 0.000 4 0.000 0.041 2562 862 1829 0 0 0 0 0 0

11409 0.75 253.3 121.7 12.7 967 11417 0.00 2.20 0.00 0.000 6 0.000 0.038 2562 2271 1828 0 0 0 0 0 0

11614 0.99 445.3 111.2 2.6 1004 11763 0.20 0.00 141.80 0.532 6 0.071 0.000 2649 2271 1051 0 0 0 0 0 0

11958 0.99 445.3 44.8 19.9 1059 11966 0.00 2.22 0.00 0.000 4 0.000 0.038 2658 862 1043 0 0 0 0 0 0

12043 0.99 445.3 31.6 13.4 1074 12051 0.00 2.22 0.00 0.000 6 0.000 0.037 2659 2264 1044 0 0 0 0 0 0

12245 0.99 445.3 5.2 14.2 1111 12253 0.00 2.22 0.00 0.000 4 0.000 0.046 2659 3676 1044 0 0 0 0 0 0

12267 end climb: SURFACE_DEPTH_REACHED

state 12267 begin surface coast

12291 end surface coast: CONTROL_FINISHED_OK

state 12291 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	28	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	61	DEEPGLIDERMB	0
N_DIVES	35	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	31	MOTHERBOARD	4
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	DEVICE1	2
D_FLARE	3	SM_CC	475	ROLL_MAXERRORS	1	DEVICE2	102
D_TGT	990	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEVICE3	39
D_ABORT	1050	FILEMGR	0	ROLL_ADJ_DBAND	0	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	-39545.27	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	2315	TCM_PITCH_OFFSET	0	TM_RECORDABOVE	200.0
APOGEE_PITCH	-8	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	160611,022606,2140.762,12000.642,29,1.4,30,-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	0.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160611,023201,2140.743,12000.736,9,1.5,15,-2.6	MHEAD_RNG_PITCHd_Wd	199.0,297699,-17.6,-11.000
SPEED_LIMITS	0.191,0.287	D_GRID	2747

FINISH	-0.3,1.021200	_10V_AH	10.2,5.243
SM_CCo	12308,14.48,0.063,0,0,932,475.15	FG_AHR_24Vo	0.000
SM_GC	0.87,0.00,0.00,14.48,0.000,0.000,0.063,209,2581,932,-6.58,-0.51,475.15,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2134.17,11959.36,150611,222241	MEM	323172
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	73763,1118
HUMID	41.41	CAP_FILE_SIZE	135258,0
INTERNAL_PRESSURE	9.35583	CFSIZE	260165632,248459264
TCM_TEMP	24.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.109, 76.8,1
_24V_AH	24.0,4.998	GPS	160611,055907,2139.382,12000.742,37,0.9,38,-2.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	238	93.37	SBE_CT	776	24	447.04
Roll_motor	119	55	157.47	AA4330	1702	33	1348.51
VBD_pump_during_apogee	477	1138	13039.68	WL_BB2F	1383	105	3485.50
VBD_pump_during_surface	14	63	22.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.90	nil	0	0	0.00
Iridium_during_connect	16	160	64.07	TMicro	0	0	0.00
Iridium_during_xfer	167	223	898.13	LAB	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.16
TT8	2833	19	572.17
LPSleep	6018	2	134.43
TT8_Active	530	19	107.13
TT8_Sampling	3010	39	1222.23
TT8_CF8	276	45	128.98
TT8_Kalman	0	0	0.00
Analog_circuits	1699	12	208.07
GPS_charging	0	0	0.00
Compass	2017	15	308.69
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	84	0.00	0.00	-65.55	0.000	2	0.000	0.000	199	2577	2620	0	0	0	0	0	0
87	-0.65	-170.3	3.7	-5.0	9	120	7.80	2.08	-17.52	0.000	4	0.239	0.041	2096	1195	3566	0	0	0	0	0	0
166	-0.65	-170.3	33.7	-30.7	21	174	0.00	2.25	0.00	0.000	6	0.000	0.044	2086	2593	3566	0	0	0	0	0	0
367	-0.65	-170.3	115.7	-33.7	58	375	0.00	1.90	0.00	0.000	4	0.000	0.048	2077	3796	3568	0	0	0	0	0	0
416	-0.65	-170.3	132.7	-36.5	66	424	0.00	1.80	0.00	0.000	6	0.000	0.029	2077	2610	3569	0	0	0	0	0	0
617	-0.65	-170.3	203.2	-28.9	103	626	0.00	2.12	0.00	0.000	4	0.000	0.031	2077	1195	3569	0	0	0	0	0	0
778	-0.65	-170.3	230.1	-14.3	132	787	0.10	2.22	0.00	0.000	6	0.158	0.041	2098	2608	3570	0	0	0	0	0	0
978	-0.65	-170.3	263.8	-18.7	162	982	0.00	1.80	0.00	0.000	4	0.000	0.047	2091	3793	3571	0	0	0	0	0	0
1046	-0.65	-170.3	277.3	-19.3	168	1049	0.00	1.75	0.00	0.000	6	0.000	0.028	2091	2594	3571	0	0	0	0	0	0
1376	-0.65	-170.3	352.1	-20.0	199	1380	0.00	1.83	0.00	0.000	4	0.000	0.047	2082	3783	3570	0	0	0	0	0	0
1414	-0.65	-170.3	361.0	-22.6	202	1421	0.00	1.77	0.00	0.000	6	0.000	0.030	2082	2600	3570	0	0	0	0	0	0
1740	-0.65	-170.3	428.1	-21.2	233	1741	0.00	0.00	0.00	0.000	6	0.000	0.000	2082	2598	3568	0	0	0	0	0	0
2062	-0.65	-170.3	501.0	-21.2	263	2065	0.00	2.08	0.00	0.000	4	0.000	0.036	2082	1196	3565	0	0	0	0	0	0
2180	-0.65	-170.3	520.6	-14.0	273	2185	0.12	2.17	0.00	0.000	6	0.168	0.043	2102	2611	3564	0	0	0	0	0	0
2505	-0.65	-170.3	561.2	-12.3	303	2506	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2612	3562	0	0	0	0	0	0
2825	-0.65	-170.3	598.4	-12.1	333	2829	0.00	2.12	0.00	0.000	4	0.000	0.037	2106	1198	3559	0	0	0	0	0	0
2897	-0.65	-170.3	606.9	-11.4	336	2901	0.00	2.17	0.00	0.000	6	0.000	0.044	2099	2608	3558	0	0	0	0	0	0
3219	-0.65	-170.3	657.4	-17.2	352	3223	0.00	2.12	0.00	0.000	4	0.000	0.038	2099	1199	3554	0	0	0	0	0	0
3246	-0.65	-170.3	662.4	-17.3	353	3250	0.00	2.17	0.00	0.000	6	0.000	0.045	2098	2609	3554	0	0	0	0	0	0
3568	-0.65	-170.3	717.0	-16.7	369	3569	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2610	3552	0	0	0	0	0	0
3877	-0.65	-170.3	759.1	-11.7	384	3881	0.00	2.12	0.00	0.000	4	0.000	0.039	2097	1201	3549	0	0	0	0	0	0
3918	-0.65	-170.3	763.2	-10.0	386	3922	0.00	2.20	0.00	0.000	6	0.000	0.047	2097	2605	3549	0	0	0	0	0	0
4245	-0.65	-170.3	798.2	-11.2	402	4249	0.00	1.83	0.00	0.000	4	0.000	0.055	2089	3780	3546	0	0	0	0	0	0
4283	-0.65	-170.3	802.7	-11.1	403	4291	0.00	1.80	0.00	0.000	6	0.000	0.034	2089	2599	3546	0	0	0	0	0	0
4599	-0.65	-170.3	843.8	-13.9	419	4603	0.00	2.10	0.00	0.000	4	0.000	0.041	2089	1193	3544	0	0	0	0	0	0
4654	-0.65	-170.3	851.9	-14.0	421	4662	0.00	2.22	0.00	0.000	6	0.000	0.047	2084	2599	3547	0	0	0	0	0	0
4971	-0.65	-170.3	902.8	-16.8	437	4975	0.00	2.12	0.00	0.000	4	0.000	0.041	2084	1196	3541	0	0	0	0	0	0
5020	-0.65	-170.3	911.2	-16.1	439	5024	0.00	2.17	0.00	0.000	6	0.000	0.047	2083	2599	3541	0	0	0	0	0	0
5342	-0.65	-170.3	964.1	-16.1	455	5346	0.00	2.15	0.00	0.000	4	0.000	0.041	2083	1193	3536	0	0	0	0	0	0
5385	-0.65	-170.3	970.9	-14.7	457	5389	0.00	2.20	0.00	0.000	6	0.000	0.047	2083	2610	3538	0	0	0	0	0	0
5526	end dive: TARGET_DEPTH_EXCEEDED
state	5526	begin apogee
5532	-0.20	0.0	991.1	14.6	464	5670	0.50	0.00	131.70	1.138	6	0.138	0.000	2244	2260	2870	0	0	0	0	0	0
5671	end apogee: CONTROL_FINISHED_OK
state	5671	begin climb
5673	0.65	170.3	997.8	0.0	470	5824	0.80	2.35	141.73	1.099	4	0.070	0.044	2536	877	2173	0	0	0	0	0	0
5986	0.65	170.3	959.7	16.8	484	5994	0.00	2.28	0.00	0.000	6	0.000	0.043	2536	2265	2167	0	0	0	0	0	0
6303	0.65	170.3	904.9	17.9	500	6307	0.00	2.17	0.00	0.000	4	0.000	0.044	2546	872	2161	0	0	0	0	0	0
6481	0.65	170.3	874.9	16.3	508	6485	0.00	2.22	0.00	0.000	6	0.000	0.043	2546	2289	2162	0	0	0	0	0	0
6808	0.65	170.3	821.7	16.4	524	6812	0.00	2.20	0.00	0.000	4	0.000	0.044	2556	863	2158	0	0	0	0	0	0
6920	0.65	170.3	803.2	15.7	529	6925	0.12	2.25	0.00	0.000	6	0.197	0.044	2528	2301	2158	0	0	0	0	0	0
7247	0.65	170.3	754.6	15.1	545	7251	0.00	2.20	0.00	0.000	4	0.000	0.044	2536	875	2153	0	0	0	0	0	0
7341	0.65	170.3	739.8	15.5	549	7345	0.00	2.15	0.00	0.000	6	0.000	0.041	2535	2271	2156	0	0	0	0	0	0
7669	0.65	170.3	683.0	18.1	565	7673	0.00	2.15	0.00	0.000	4	0.000	0.044	2546	874	2155	0	0	0	0	0	0
7860	0.65	170.3	647.4	18.8	573	7864	0.00	2.17	0.00	0.000	6	0.000	0.042	2546	2281	2155	0	0	0	0	0	0
8178	0.65	170.3	586.5	17.8	591	8182	0.00	2.15	0.00	0.000	4	0.000	0.044	2555	874	2154	0	0	0	0	0	0
8355	0.65	170.3	558.1	13.4	606	8362	0.00	2.17	0.00	0.000	6	0.000	0.041	2555	2280	2154	0	0	0	0	0	0
8681	0.65	170.3	516.0	11.8	637	8686	0.12	2.15	0.00	0.000	4	0.201	0.042	2534	870	2153	0	0	0	0	0	0
8870	0.69	204.2	497.4	9.5	653	8900	0.00	2.17	24.27	0.819	6	0.000	0.041	2534	2278	2037	0	0	0	0	0	0
9217	0.69	204.2	442.7	18.5	686	9221	0.00	2.20	0.00	0.000	4	0.000	0.042	2544	859	2031	0	0	0	0	0	0
9430	0.69	204.2	404.4	18.5	705	9434	0.00	2.17	0.00	0.000	6	0.000	0.041	2544	2269	2030	0	0	0	0	0	0
9756	0.69	204.2	352.8	13.4	735	9760	0.00	2.12	0.00	0.000	4	0.000	0.041	2554	874	2029	0	0	0	0	0	0
9822	0.69	204.2	344.2	12.3	740	9830	0.00	2.20	0.00	0.000	6	0.000	0.041	2554	2272	2027	0	0	0	0	0	0
10147	0.69	204.2	305.8	12.8	771	10151	0.00	2.12	0.00	0.000	4	0.000	0.041	2563	872	2029	0	0	0	0	0	0
10223	0.69	204.2	296.4	13.3	777	10227	0.00	2.15	0.00	0.000	6	0.000	0.040	2563	2277	2029	0	0	0	0	0	0
10551	0.69	204.2	236.5	18.2	813	10559	0.00	2.20	0.00	0.000	4	0.000	0.047	2563	3682	2029	0	0	0	0	0	0
10599	0.69	204.2	227.4	18.8	821	10608	0.10	2.15	0.00	0.000	6	0.171	0.034	2544	2285	2029	0	0	0	0	0	0
10802	0.75	253.3	204.9	8.9	858	10847	0.00	2.20	37.80	0.632	4	0.000	0.041	2552	861	1835	0	0	0	0	0	0
11026	0.75	253.3	179.3	13.7	897	11034	0.00	2.22	0.00	0.000	6	0.000	0.039	2552	2270	1829	0	0	0	0	0	0
11228	0.75	253.3	148.1	15.9	934	11237	0.00	2.20	0.00	0.000	4	0.000	0.041	2562	862	1829	0	0	0	0	0	0
11409	0.75	253.3	121.7	12.7	967	11417	0.00	2.20	0.00	0.000	6	0.000	0.038	2562	2271	1828	0	0	0	0	0	0
11614	0.99	445.3	111.2	2.6	1004	11763	0.20	0.00	141.80	0.532	6	0.071	0.000	2649	2271	1051	0	0	0	0	0	0
11958	0.99	445.3	44.8	19.9	1059	11966	0.00	2.22	0.00	0.000	4	0.000	0.038	2658	862	1043	0	0	0	0	0	0
12043	0.99	445.3	31.6	13.4	1074	12051	0.00	2.22	0.00	0.000	6	0.000	0.037	2659	2264	1044	0	0	0	0	0	0
12245	0.99	445.3	5.2	14.2	1111	12253	0.00	2.22	0.00	0.000	4	0.000	0.046	2659	3676	1044	0	0	0	0	0	0
12267	end climb: SURFACE_DEPTH_REACHED
state	12267	begin surface coast
12291	end surface coast: CONTROL_FINISHED_OK
state	12291	begin surface