Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 661 * 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 661 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 63 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 46 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 1030 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 320 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 -41425.238 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 -8 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 2300 TCM_PITCH_OFFSET 0 TM_RECORDABOVE 200.0

APOGEE_PITCH -8 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 TM_PROFILE 1.0

MAX_BUOY 175 PITCH_CNV 0.003125763 COMPASS_USE 0 TM_XMITPROFILE 1.0

COURSE_BIAS 0 P_OVSHOOT 0.039999999 ALTIM_BOTTOM_PING_RANGE 0 TM_UPLOADMAX 0.0

GLIDE_SLOPE 30 PITCH_GAIN 60 ALTIM_TOP_PING_RANGE 0 TM_STARTS 41.0

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 200.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 10 LA_PROFILE 1.0

KALMAN_USE 2 ROLL_MIN 209 ALTIM_FREQUENCY 13 LA_XMITPROFILE 1.0

HD_A 0.003 ROLL_MAX 3785 ALTIM_PULSE 3 LA_UPLOADMAX 10000.0

HD_B 0.0099999998 ROLL_DEG 20 ALTIM_SENSITIVITY 2 LA_STARTS 23.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2590 XPDR_VALID 2

HEADING -1 C_ROLL_CLIMB 2165 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 60 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 1.0

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 41.0

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 1.0

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 320

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 -41425.238

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS_DEVICE 33 LA_PROFILE 1.0 ROLL_ADJ_GAIN 0 T_MISSION 350

COMPASS_USE 0 LA_RECORDABOVE 200.0 ROLL_AD_RATE 350 T_NO_W 120

COURSE_BIAS 0 LA_STARTS 23.0 ROLL_CNV 0.028270001 T_RSLEEP 2

C_PITCH 2300 LA_UPLOADMAX 10000.0 ROLL_DEG 20 T_TURN 225

C_ROLL_CLIMB 2165 LA_XMITPROFILE 1.0 ROLL_MAX 3785 T_TURN_SAMPINT 5

C_ROLL_DIVE 2590 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 63 USE_BATHY -8

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 46 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 661 MOTHERBOARD 4 SEABIRD_T_H 0.00063541438 VBD_MIN 440

D_ABORT 1030 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 0 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 151011,115806,2157.265,12031.238,31,0.9,42,-2.7 TGT_NAME W1

_CALLS 1 TGT_LATLONG 2207.170,12035.130

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.20 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -65.7 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 151011,120314,2157.187,12031.279,13,1.3,13,-2.7 MHEAD_RNG_PITCHd_Wd 337.4,19634,-16.5,-10.313

SPEED_LIMITS 0.179,0.281 D_GRID 643

Post-dive calculations and measurements:

FINISH 0.5,1.010317 _10V_AH 9.8,81.298

SM_CCo 10950,0.00,0.000,0,0,443,594.85 FG_AHR_24Vo 0.000

SM_GC 1.46,6.20,0.00,0.00,0.030,0.000,0.000,204,2571,443,-6.44,-0.48,594.85,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12042.30,151011,080842 MEM 321672

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 63534,1089

HUMID 51.81 CAP_FILE_SIZE 132963,0

INTERNAL_PRESSURE 9.38513 CFSIZE 260165632,191746048

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.460,160.1,1

_24V_AH 24.0,109.807 GPS 151011,150731,2157.185,12031.134,41,1.1,42,-2.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 218 82.83 SBE_CT 742 24 427.82

Roll_motor 58 60 84.56 AA4330 0 0 0.00

VBD_pump_during_apogee 594 823 11757.45 WL_BB2F 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 27 103 67.89 nil 0 0 0.00

Iridium_during_connect 16 160 64.39 TMicro 0 0 0.00

Iridium_during_xfer 123 223 659.99 LAB 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.06

TT8 2717 19 527.33

LPSleep 5436 2 116.68

TT8_Active 666 19 129.28

TT8_Sampling 2119 39 826.54

TT8_CF8 315 45 141.50

TT8_Kalman 0 0 0.00

Analog_circuits 1758 12 206.77

GPS_charging 0 0 0.00

Compass 1928 15 283.46

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 -0.49 -170.3 0.0 0.0 0 81 0.00 0.00 -63.20 0.000 2 0.000 0.000 187 2603 2242 0 0 0 0 0 0

85 -0.49 -170.3 3.3 -3.5 10 128 8.05 1.02 -28.30 0.000 4 0.219 0.060 2131 3298 3565 0 0 0 0 0 0

153 -0.49 -170.3 23.7 -36.0 21 161 0.00 1.05 0.00 0.000 6 0.000 0.025 2130 2577 3565 0 0 0 0 0 0

297 -0.49 -170.3 71.3 -27.9 46 304 0.00 1.10 0.00 0.000 4 0.000 0.037 2125 3292 3563 0 0 0 0 0 0

317 -0.49 -170.3 76.2 -26.2 49 324 0.00 1.02 0.00 0.000 6 0.000 0.023 2125 2579 3563 0 0 0 0 0 0

461 -0.49 -170.3 107.9 -21.7 74 468 0.00 1.10 0.00 0.000 4 0.000 0.039 2120 3288 3562 0 0 0 0 0 0

593 -0.49 -170.3 135.7 -18.7 97 600 0.00 1.00 0.00 0.000 6 0.000 0.023 2120 2587 3561 0 0 0 0 0 0

737 -0.49 -170.3 157.0 -13.7 122 743 0.00 1.08 0.00 0.000 4 0.000 0.037 2115 3288 3561 0 0 0 0 0 0

750 -0.49 -170.3 158.9 -12.8 124 757 0.00 1.00 0.00 0.000 6 0.000 0.024 2115 2587 3561 0 0 0 0 0 0

894 -0.49 -170.3 177.3 -13.6 149 901 0.00 0.95 0.00 0.000 4 0.000 0.024 2114 1880 3561 0 0 0 0 0 0

981 -0.49 -170.3 189.8 -14.1 164 988 0.00 1.08 0.00 0.000 6 0.000 0.034 2112 2587 3561 0 0 0 0 0 0

1124 -0.49 -170.3 211.4 -15.4 183 1128 0.12 1.08 0.00 0.000 4 0.171 0.037 2140 3295 3560 0 0 0 0 0 0

1181 -0.49 -170.3 219.0 -13.4 188 1184 0.00 1.00 0.00 0.000 6 0.000 0.024 2139 2591 3560 0 0 0 0 0 0

1512 -0.49 -170.3 264.0 -14.3 219 1515 0.00 1.08 0.00 0.000 4 0.000 0.038 2135 3289 3559 0 0 0 0 0 0

1562 -0.49 -170.3 271.6 -14.7 223 1569 0.00 1.00 0.00 0.000 6 0.000 0.024 2134 2591 3558 0 0 0 0 0 0

1888 -0.49 -170.3 317.0 -13.7 254 1892 0.00 0.98 0.00 0.000 4 0.000 0.025 2134 1881 3556 0 0 0 0 0 0

1981 -0.49 -170.3 328.4 -11.8 262 1984 0.00 1.08 0.00 0.000 6 0.000 0.034 2129 2588 3555 0 0 0 0 0 0

2312 -0.49 -170.3 373.6 -14.6 293 2313 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2589 3553 0 0 0 0 0 0

2633 -0.49 -170.3 418.7 -13.6 323 2637 0.00 0.98 0.00 0.000 4 0.000 0.024 2129 1886 3550 0 0 0 0 0 0

2669 -0.49 -170.3 423.6 -13.0 326 2672 0.00 1.08 0.00 0.000 6 0.000 0.035 2125 2588 3550 0 0 0 0 0 0

2999 -0.49 -170.3 468.6 -14.1 357 3003 0.00 1.08 0.00 0.000 4 0.000 0.041 2119 3294 3547 0 0 0 0 0 0

3116 -0.49 -170.3 486.3 -14.8 367 3123 0.00 1.02 0.00 0.000 6 0.000 0.024 2119 2584 3546 0 0 0 0 0 0

3435 -0.49 -170.3 533.3 -13.9 387 3438 0.00 0.95 0.00 0.000 4 0.000 0.025 2119 1895 3543 0 0 0 0 0 0

3553 -0.49 -170.3 549.6 -13.3 392 3557 0.00 1.08 0.00 0.000 6 0.000 0.036 2114 2593 3543 0 0 0 0 0 0

3881 -0.49 -170.3 591.3 -12.1 408 3885 0.00 1.00 0.00 0.000 4 0.000 0.024 2114 1882 3540 0 0 0 0 0 0

3943 -0.49 -170.3 599.2 -12.3 410 3950 0.00 1.10 0.00 0.000 6 0.000 0.037 2112 2593 3539 0 0 0 0 0 0

4260 -0.49 -170.3 632.8 -10.1 426 4265 0.12 1.10 0.00 0.000 4 0.168 0.041 2140 3298 3537 0 0 0 0 0 0

4284 -0.49 -170.3 635.2 -10.3 427 4288 0.00 1.02 0.00 0.000 6 0.000 0.025 2141 2593 3537 0 0 0 0 0 0

4387 end dive: TARGET_DEPTH_EXCEEDED

state 4387 begin apogee

4395 -0.13 0.0 645.1 9.6 432 4528 0.35 0.00 126.28 0.824 6 0.121 0.000 2255 2140 2869 0 0 0 0 0 0

4529 end apogee: CONTROL_FINISHED_OK

state 4529 begin climb

4533 0.49 170.3 651.5 0.0 438 4673 0.55 1.02 130.95 0.807 4 0.083 0.028 2456 1472 2173 0 0 0 0 0 0

4771 0.67 318.7 646.6 4.3 449 4891 0.12 1.08 113.10 0.805 6 0.044 0.030 2531 2180 1568 0 0 0 0 0 0

5209 0.79 414.6 620.0 6.4 470 5287 0.00 1.10 73.57 0.796 4 0.000 0.035 2531 2867 1178 0 0 0 0 0 0

5370 0.79 414.6 604.0 12.5 476 5377 0.00 1.05 0.00 0.000 6 0.000 0.026 2534 2166 1180 0 0 0 0 0 0

5687 0.79 414.6 567.4 11.3 492 5691 0.00 1.08 0.00 0.000 4 0.000 0.034 2534 2855 1183 0 0 0 0 0 0

5760 0.80 425.1 559.8 9.9 495 5778 0.00 1.02 10.85 0.715 6 0.000 0.028 2537 2169 1136 0 0 0 0 0 0

6088 0.83 450.7 528.9 9.3 511 6114 0.00 1.10 20.92 0.729 4 0.000 0.034 2537 2857 1031 0 0 0 0 0 0

6159 0.83 450.7 521.4 10.4 514 6163 0.00 1.05 0.00 0.000 6 0.000 0.028 2537 2162 1030 0 0 0 0 0 0

6483 0.83 450.7 485.5 11.5 535 6487 0.00 1.02 0.00 0.000 4 0.000 0.035 2537 1472 1031 0 0 0 0 0 0

6744 0.87 487.1 458.3 8.8 558 6780 0.10 1.05 29.33 0.702 6 0.058 0.028 2593 2170 882 0 0 0 0 0 0

7096 0.87 487.1 420.1 13.4 591 7099 0.00 1.02 0.00 0.000 4 0.000 0.036 2593 2857 881 0 0 0 0 0 0

7185 0.87 487.1 407.4 14.5 599 7189 0.00 1.05 0.00 0.000 6 0.000 0.028 2597 2162 881 0 0 0 0 0 0

7516 0.87 487.1 367.1 11.1 630 7520 0.00 1.02 0.00 0.000 4 0.000 0.037 2600 1476 880 0 0 0 0 0 0

7588 0.87 487.1 358.8 11.7 636 7597 0.00 1.02 0.00 0.000 6 0.000 0.028 2600 2160 880 0 0 0 0 0 0

7914 0.87 487.1 321.3 12.4 667 7918 0.00 1.05 0.00 0.000 4 0.000 0.035 2601 2867 880 0 0 0 0 0 0

8009 0.87 487.1 308.6 14.6 675 8016 0.00 1.05 0.00 0.000 6 0.000 0.026 2605 2159 883 0 0 0 0 0 0

8334 0.87 487.1 269.0 10.8 706 8338 0.00 1.02 0.00 0.000 4 0.000 0.033 2610 1464 883 0 0 0 0 0 0

8425 0.87 487.1 258.6 11.5 714 8430 0.08 1.05 0.00 0.000 6 0.119 0.028 2584 2168 883 0 0 0 0 0 0

8756 0.92 522.1 226.9 8.9 745 8790 0.00 1.10 27.70 0.572 4 0.000 0.034 2584 2870 739 0 0 0 0 0 0

9046 0.92 522.1 194.9 11.7 774 9053 0.00 1.05 0.00 0.000 6 0.000 0.027 2584 2159 739 0 0 0 0 0 0

9191 0.92 522.1 178.7 11.8 799 9198 0.00 1.00 0.00 0.000 4 0.000 0.034 2584 1481 740 0 0 0 0 0 0

9397 0.92 522.1 154.5 11.4 835 9404 0.00 1.02 0.00 0.000 6 0.000 0.029 2584 2162 740 0 0 0 0 0 0

9542 0.95 544.7 139.8 9.4 860 9567 0.00 1.02 18.48 0.524 4 0.000 0.032 2584 2865 649 0 0 0 0 0 0

9678 0.95 544.7 125.8 11.0 883 9686 0.00 1.05 0.00 0.000 6 0.000 0.027 2584 2162 649 0 0 0 0 0 0

9823 0.95 544.7 108.7 12.2 908 9830 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2163 649 0 0 0 0 0 0

9967 0.95 544.7 89.9 11.6 933 9974 0.00 1.05 0.00 0.000 4 0.000 0.033 2584 2858 649 0 0 0 0 0 0

10038 1.00 590.4 83.4 8.4 945 10083 0.08 1.02 35.25 0.476 6 0.076 0.027 2622 2161 462 0 0 0 0 0 0

10221 1.02 603.4 67.7 9.8 976 10233 0.00 0.00 6.93 0.428 6 0.000 0.000 2622 2161 438 0 0 0 0 0 0

10372 1.04 620.1 52.7 9.6 1002 10379 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2161 439 0 0 0 0 0 0

10514 1.04 620.1 38.1 10.8 1027 10521 0.00 1.05 0.00 0.000 4 0.000 0.031 2620 2864 440 0 0 0 0 0 0

10595 1.04 620.1 29.5 10.9 1041 10603 0.00 1.02 0.75 0.074 6 0.000 0.026 2620 2164 441 0 0 0 0 0 0

10741 1.04 620.1 13.5 11.0 1066 10748 0.00 1.05 0.50 0.090 4 0.000 0.027 2620 2858 443 0 0 0 0 0 0

10842 end climb: SURFACE_DEPTH_REACHED

state 10843 begin surface coast

10874 end surface coast: CONTROL_FINISHED_OK

state 10874 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	661	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	63	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	46	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	1030	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	320	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	-41425.238	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	-8	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	2300	TCM_PITCH_OFFSET	0	TM_RECORDABOVE	200.0
APOGEE_PITCH	-8	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	TM_PROFILE	1.0
MAX_BUOY	175	PITCH_CNV	0.003125763	COMPASS_USE	0	TM_XMITPROFILE	1.0
COURSE_BIAS	0	P_OVSHOOT	0.039999999	ALTIM_BOTTOM_PING_RANGE	0	TM_UPLOADMAX	0.0
GLIDE_SLOPE	30	PITCH_GAIN	60	ALTIM_TOP_PING_RANGE	0	TM_STARTS	41.0
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	200.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	10	LA_PROFILE	1.0
KALMAN_USE	2	ROLL_MIN	209	ALTIM_FREQUENCY	13	LA_XMITPROFILE	1.0
HD_A	0.003	ROLL_MAX	3785	ALTIM_PULSE	3	LA_UPLOADMAX	10000.0
HD_B	0.0099999998	ROLL_DEG	20	ALTIM_SENSITIVITY	2	LA_STARTS	23.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2590	XPDR_VALID	2
HEADING	-1	C_ROLL_CLIMB	2165	XPDR_INHIBIT	90
ESCAPE_HEADING	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003

GPS1	151011,115806,2157.265,12031.238,31,0.9,42,-2.7	TGT_NAME	W1
_CALLS	1	TGT_LATLONG	2207.170,12035.130
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.20	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-65.7	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	151011,120314,2157.187,12031.279,13,1.3,13,-2.7	MHEAD_RNG_PITCHd_Wd	337.4,19634,-16.5,-10.313
SPEED_LIMITS	0.179,0.281	D_GRID	643

FINISH	0.5,1.010317	_10V_AH	9.8,81.298
SM_CCo	10950,0.00,0.000,0,0,443,594.85	FG_AHR_24Vo	0.000
SM_GC	1.46,6.20,0.00,0.00,0.030,0.000,0.000,204,2571,443,-6.44,-0.48,594.85,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12042.30,151011,080842	MEM	321672
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	63534,1089
HUMID	51.81	CAP_FILE_SIZE	132963,0
INTERNAL_PRESSURE	9.38513	CFSIZE	260165632,191746048
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.460,160.1,1
_24V_AH	24.0,109.807	GPS	151011,150731,2157.185,12031.134,41,1.1,42,-2.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	218	82.83	SBE_CT	742	24	427.82
Roll_motor	58	60	84.56	AA4330	0	0	0.00
VBD_pump_during_apogee	594	823	11757.45	WL_BB2F	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	27	103	67.89	nil	0	0	0.00
Iridium_during_connect	16	160	64.39	TMicro	0	0	0.00
Iridium_during_xfer	123	223	659.99	LAB	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.06
TT8	2717	19	527.33
LPSleep	5436	2	116.68
TT8_Active	666	19	129.28
TT8_Sampling	2119	39	826.54
TT8_CF8	315	45	141.50
TT8_Kalman	0	0	0.00
Analog_circuits	1758	12	206.77
GPS_charging	0	0	0.00
Compass	1928	15	283.46
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	-0.49	-170.3	0.0	0.0	0	81	0.00	0.00	-63.20	0.000	2	0.000	0.000	187	2603	2242	0	0	0	0	0	0
85	-0.49	-170.3	3.3	-3.5	10	128	8.05	1.02	-28.30	0.000	4	0.219	0.060	2131	3298	3565	0	0	0	0	0	0
153	-0.49	-170.3	23.7	-36.0	21	161	0.00	1.05	0.00	0.000	6	0.000	0.025	2130	2577	3565	0	0	0	0	0	0
297	-0.49	-170.3	71.3	-27.9	46	304	0.00	1.10	0.00	0.000	4	0.000	0.037	2125	3292	3563	0	0	0	0	0	0
317	-0.49	-170.3	76.2	-26.2	49	324	0.00	1.02	0.00	0.000	6	0.000	0.023	2125	2579	3563	0	0	0	0	0	0
461	-0.49	-170.3	107.9	-21.7	74	468	0.00	1.10	0.00	0.000	4	0.000	0.039	2120	3288	3562	0	0	0	0	0	0
593	-0.49	-170.3	135.7	-18.7	97	600	0.00	1.00	0.00	0.000	6	0.000	0.023	2120	2587	3561	0	0	0	0	0	0
737	-0.49	-170.3	157.0	-13.7	122	743	0.00	1.08	0.00	0.000	4	0.000	0.037	2115	3288	3561	0	0	0	0	0	0
750	-0.49	-170.3	158.9	-12.8	124	757	0.00	1.00	0.00	0.000	6	0.000	0.024	2115	2587	3561	0	0	0	0	0	0
894	-0.49	-170.3	177.3	-13.6	149	901	0.00	0.95	0.00	0.000	4	0.000	0.024	2114	1880	3561	0	0	0	0	0	0
981	-0.49	-170.3	189.8	-14.1	164	988	0.00	1.08	0.00	0.000	6	0.000	0.034	2112	2587	3561	0	0	0	0	0	0
1124	-0.49	-170.3	211.4	-15.4	183	1128	0.12	1.08	0.00	0.000	4	0.171	0.037	2140	3295	3560	0	0	0	0	0	0
1181	-0.49	-170.3	219.0	-13.4	188	1184	0.00	1.00	0.00	0.000	6	0.000	0.024	2139	2591	3560	0	0	0	0	0	0
1512	-0.49	-170.3	264.0	-14.3	219	1515	0.00	1.08	0.00	0.000	4	0.000	0.038	2135	3289	3559	0	0	0	0	0	0
1562	-0.49	-170.3	271.6	-14.7	223	1569	0.00	1.00	0.00	0.000	6	0.000	0.024	2134	2591	3558	0	0	0	0	0	0
1888	-0.49	-170.3	317.0	-13.7	254	1892	0.00	0.98	0.00	0.000	4	0.000	0.025	2134	1881	3556	0	0	0	0	0	0
1981	-0.49	-170.3	328.4	-11.8	262	1984	0.00	1.08	0.00	0.000	6	0.000	0.034	2129	2588	3555	0	0	0	0	0	0
2312	-0.49	-170.3	373.6	-14.6	293	2313	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2589	3553	0	0	0	0	0	0
2633	-0.49	-170.3	418.7	-13.6	323	2637	0.00	0.98	0.00	0.000	4	0.000	0.024	2129	1886	3550	0	0	0	0	0	0
2669	-0.49	-170.3	423.6	-13.0	326	2672	0.00	1.08	0.00	0.000	6	0.000	0.035	2125	2588	3550	0	0	0	0	0	0
2999	-0.49	-170.3	468.6	-14.1	357	3003	0.00	1.08	0.00	0.000	4	0.000	0.041	2119	3294	3547	0	0	0	0	0	0
3116	-0.49	-170.3	486.3	-14.8	367	3123	0.00	1.02	0.00	0.000	6	0.000	0.024	2119	2584	3546	0	0	0	0	0	0
3435	-0.49	-170.3	533.3	-13.9	387	3438	0.00	0.95	0.00	0.000	4	0.000	0.025	2119	1895	3543	0	0	0	0	0	0
3553	-0.49	-170.3	549.6	-13.3	392	3557	0.00	1.08	0.00	0.000	6	0.000	0.036	2114	2593	3543	0	0	0	0	0	0
3881	-0.49	-170.3	591.3	-12.1	408	3885	0.00	1.00	0.00	0.000	4	0.000	0.024	2114	1882	3540	0	0	0	0	0	0
3943	-0.49	-170.3	599.2	-12.3	410	3950	0.00	1.10	0.00	0.000	6	0.000	0.037	2112	2593	3539	0	0	0	0	0	0
4260	-0.49	-170.3	632.8	-10.1	426	4265	0.12	1.10	0.00	0.000	4	0.168	0.041	2140	3298	3537	0	0	0	0	0	0
4284	-0.49	-170.3	635.2	-10.3	427	4288	0.00	1.02	0.00	0.000	6	0.000	0.025	2141	2593	3537	0	0	0	0	0	0
4387	end dive: TARGET_DEPTH_EXCEEDED
state	4387	begin apogee
4395	-0.13	0.0	645.1	9.6	432	4528	0.35	0.00	126.28	0.824	6	0.121	0.000	2255	2140	2869	0	0	0	0	0	0
4529	end apogee: CONTROL_FINISHED_OK
state	4529	begin climb
4533	0.49	170.3	651.5	0.0	438	4673	0.55	1.02	130.95	0.807	4	0.083	0.028	2456	1472	2173	0	0	0	0	0	0
4771	0.67	318.7	646.6	4.3	449	4891	0.12	1.08	113.10	0.805	6	0.044	0.030	2531	2180	1568	0	0	0	0	0	0
5209	0.79	414.6	620.0	6.4	470	5287	0.00	1.10	73.57	0.796	4	0.000	0.035	2531	2867	1178	0	0	0	0	0	0
5370	0.79	414.6	604.0	12.5	476	5377	0.00	1.05	0.00	0.000	6	0.000	0.026	2534	2166	1180	0	0	0	0	0	0
5687	0.79	414.6	567.4	11.3	492	5691	0.00	1.08	0.00	0.000	4	0.000	0.034	2534	2855	1183	0	0	0	0	0	0
5760	0.80	425.1	559.8	9.9	495	5778	0.00	1.02	10.85	0.715	6	0.000	0.028	2537	2169	1136	0	0	0	0	0	0
6088	0.83	450.7	528.9	9.3	511	6114	0.00	1.10	20.92	0.729	4	0.000	0.034	2537	2857	1031	0	0	0	0	0	0
6159	0.83	450.7	521.4	10.4	514	6163	0.00	1.05	0.00	0.000	6	0.000	0.028	2537	2162	1030	0	0	0	0	0	0
6483	0.83	450.7	485.5	11.5	535	6487	0.00	1.02	0.00	0.000	4	0.000	0.035	2537	1472	1031	0	0	0	0	0	0
6744	0.87	487.1	458.3	8.8	558	6780	0.10	1.05	29.33	0.702	6	0.058	0.028	2593	2170	882	0	0	0	0	0	0
7096	0.87	487.1	420.1	13.4	591	7099	0.00	1.02	0.00	0.000	4	0.000	0.036	2593	2857	881	0	0	0	0	0	0
7185	0.87	487.1	407.4	14.5	599	7189	0.00	1.05	0.00	0.000	6	0.000	0.028	2597	2162	881	0	0	0	0	0	0
7516	0.87	487.1	367.1	11.1	630	7520	0.00	1.02	0.00	0.000	4	0.000	0.037	2600	1476	880	0	0	0	0	0	0
7588	0.87	487.1	358.8	11.7	636	7597	0.00	1.02	0.00	0.000	6	0.000	0.028	2600	2160	880	0	0	0	0	0	0
7914	0.87	487.1	321.3	12.4	667	7918	0.00	1.05	0.00	0.000	4	0.000	0.035	2601	2867	880	0	0	0	0	0	0
8009	0.87	487.1	308.6	14.6	675	8016	0.00	1.05	0.00	0.000	6	0.000	0.026	2605	2159	883	0	0	0	0	0	0
8334	0.87	487.1	269.0	10.8	706	8338	0.00	1.02	0.00	0.000	4	0.000	0.033	2610	1464	883	0	0	0	0	0	0
8425	0.87	487.1	258.6	11.5	714	8430	0.08	1.05	0.00	0.000	6	0.119	0.028	2584	2168	883	0	0	0	0	0	0
8756	0.92	522.1	226.9	8.9	745	8790	0.00	1.10	27.70	0.572	4	0.000	0.034	2584	2870	739	0	0	0	0	0	0
9046	0.92	522.1	194.9	11.7	774	9053	0.00	1.05	0.00	0.000	6	0.000	0.027	2584	2159	739	0	0	0	0	0	0
9191	0.92	522.1	178.7	11.8	799	9198	0.00	1.00	0.00	0.000	4	0.000	0.034	2584	1481	740	0	0	0	0	0	0
9397	0.92	522.1	154.5	11.4	835	9404	0.00	1.02	0.00	0.000	6	0.000	0.029	2584	2162	740	0	0	0	0	0	0
9542	0.95	544.7	139.8	9.4	860	9567	0.00	1.02	18.48	0.524	4	0.000	0.032	2584	2865	649	0	0	0	0	0	0
9678	0.95	544.7	125.8	11.0	883	9686	0.00	1.05	0.00	0.000	6	0.000	0.027	2584	2162	649	0	0	0	0	0	0
9823	0.95	544.7	108.7	12.2	908	9830	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2163	649	0	0	0	0	0	0
9967	0.95	544.7	89.9	11.6	933	9974	0.00	1.05	0.00	0.000	4	0.000	0.033	2584	2858	649	0	0	0	0	0	0
10038	1.00	590.4	83.4	8.4	945	10083	0.08	1.02	35.25	0.476	6	0.076	0.027	2622	2161	462	0	0	0	0	0	0
10221	1.02	603.4	67.7	9.8	976	10233	0.00	0.00	6.93	0.428	6	0.000	0.000	2622	2161	438	0	0	0	0	0	0
10372	1.04	620.1	52.7	9.6	1002	10379	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2161	439	0	0	0	0	0	0
10514	1.04	620.1	38.1	10.8	1027	10521	0.00	1.05	0.00	0.000	4	0.000	0.031	2620	2864	440	0	0	0	0	0	0
10595	1.04	620.1	29.5	10.9	1041	10603	0.00	1.02	0.75	0.074	6	0.000	0.026	2620	2164	441	0	0	0	0	0	0
10741	1.04	620.1	13.5	11.0	1066	10748	0.00	1.05	0.50	0.090	4	0.000	0.027	2620	2858	443	0	0	0	0	0	0
10842	end climb: SURFACE_DEPTH_REACHED
state	10843	begin surface coast
10874	end surface coast: CONTROL_FINISHED_OK
state	10874	begin surface