Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 673 * 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 673 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 73 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 57 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 -41440.633 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 0 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 -41440.633

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 73 USE_BATHY -8

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 57 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 673 MOTHERBOARD 4 SEABIRD_T_H 0.00063541438 VBD_MIN 440

D_ABORT 1030 NAV_MODE 0 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 171011,081137,2147.811,12028.180,35,0.9,35,-2.6 TGT_NAME W2

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.35 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -64.9 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 171011,081738,2147.592,12028.246,13,1.1,13,-2.6 MHEAD_RNG_PITCHd_Wd 267.0,48825,-16.5,-10.312

SPEED_LIMITS 0.179,0.281 D_GRID 715

Post-dive calculations and measurements:

FINISH 0.5,1.005686 _10V_AH 9.8,82.211

SM_CCo 12467,0.00,0.000,0,0,441,595.59 FG_AHR_24Vo 0.000

SM_GC 1.49,6.20,0.00,0.00,0.029,0.000,0.000,197,2581,441,-6.46,-0.25,595.59,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12046.29,171011,040434 MEM 321668

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 67001,1183

HUMID 49.64 CAP_FILE_SIZE 140274,0

INTERNAL_PRESSURE 9.39489 CFSIZE 260165632,190857216

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 171011,114656,2147.149,12027.440,30,1.3,30,-2.6

_24V_AH 24.0,111.634

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 215 82.45 SBE_CT 809 24 466.53

Roll_motor 60 61 89.64 AA4330 0 0 0.00

VBD_pump_during_apogee 613 873 12852.84 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 30 103 76.01 nil 0 0 0.00

Iridium_during_connect 44 160 171.51 TMicro 0 0 0.00

Iridium_during_xfer 140 223 754.04 LAB 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.74

TT8 2771 19 537.87

LPSleep 6790 2 145.74

TT8_Active 648 19 125.78

TT8_Sampling 2268 39 884.63

TT8_CF8 341 45 153.13

TT8_Kalman 0 0 0.00

Analog_circuits 1793 12 210.94

GPS_charging 0 0 0.00

Compass 2031 15 298.65

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.49 -170.3 0.0 0.0 0 86 0.00 0.00 -67.35 0.000 2 0.000 0.000 171 2563 2358 0 0 0 0 0 0

90 -0.49 -170.3 3.4 -3.2 12 132 8.07 1.15 -27.33 0.000 4 0.216 0.062 2131 3282 3565 0 0 0 0 0 0

263 -0.49 -170.3 59.6 -37.8 42 270 0.00 1.00 0.00 0.000 6 0.000 0.024 2131 2577 3562 0 0 0 0 0 0

406 -0.49 -170.3 104.1 -27.4 67 413 0.00 1.08 0.00 0.000 4 0.000 0.037 2126 3279 3560 0 0 0 0 0 0

601 -0.49 -170.3 146.5 -19.2 101 607 0.00 0.98 0.00 0.000 6 0.000 0.023 2125 2590 3558 0 0 0 0 0 0

743 -0.49 -170.3 168.5 -14.3 126 750 0.00 1.05 0.00 0.000 4 0.000 0.037 2120 3280 3558 0 0 0 0 0 0

831 -0.49 -170.3 180.6 -13.1 141 838 0.00 0.98 0.00 0.000 6 0.000 0.023 2121 2593 3558 0 0 0 0 0 0

979 -0.49 -170.3 202.4 -15.6 166 982 0.00 0.95 0.00 0.000 4 0.000 0.024 2120 1884 3558 0 0 0 0 0 0

1074 -0.49 -170.3 217.5 -15.6 174 1081 0.00 1.02 0.00 0.000 6 0.000 0.033 2115 2570 3558 0 0 0 0 0 0

1399 -0.49 -170.3 269.5 -16.3 205 1403 0.00 1.08 0.00 0.000 4 0.000 0.037 2110 3290 3557 0 0 0 0 0 0

1503 -0.49 -170.3 285.1 -14.5 214 1507 0.08 1.00 0.00 0.000 6 0.136 0.022 2135 2586 3557 0 0 0 0 0 0

1833 -0.49 -170.3 329.2 -12.9 245 1837 0.00 1.08 0.00 0.000 4 0.000 0.038 2131 3287 3555 0 0 0 0 0 0

1880 -0.49 -170.3 335.5 -13.3 249 1884 0.00 1.00 0.00 0.000 6 0.000 0.024 2132 2591 3554 0 0 0 0 0 0

2211 -0.49 -170.3 374.7 -10.6 280 2215 0.00 0.98 0.00 0.000 4 0.000 0.024 2131 1876 3552 0 0 0 0 0 0

2360 -0.49 -170.3 389.7 -9.7 293 2364 0.00 1.08 0.00 0.000 6 0.000 0.034 2126 2586 3550 0 0 0 0 0 0

2691 -0.49 -170.3 427.8 -12.2 324 2695 0.00 1.00 0.00 0.000 4 0.000 0.024 2126 1876 3547 0 0 0 0 0 0

2776 -0.49 -170.3 438.2 -12.5 331 2783 0.00 1.08 0.00 0.000 6 0.000 0.034 2121 2583 3546 0 0 0 0 0 0

3101 -0.49 -170.3 481.9 -14.3 362 3105 0.00 0.98 0.00 0.000 4 0.000 0.025 2121 1893 3543 0 0 0 0 0 0

3186 -0.49 -170.3 494.2 -14.3 369 3193 0.00 1.05 0.00 0.000 6 0.000 0.035 2117 2583 3542 0 0 0 0 0 0

3503 -0.49 -170.3 540.2 -14.4 387 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2583 3538 0 0 0 0 0 0

3814 -0.49 -170.3 577.5 -11.1 402 3817 0.00 1.00 0.00 0.000 4 0.000 0.028 2116 1884 3535 0 0 0 0 0 0

3853 -0.49 -170.3 582.3 -11.9 403 3861 0.00 1.10 0.00 0.000 6 0.000 0.038 2112 2588 3535 0 0 0 0 0 0

4169 -0.49 -170.3 623.4 -14.0 419 4173 0.12 1.02 0.00 0.000 4 0.168 0.028 2145 1890 3532 0 0 0 0 0 0

4241 -0.49 -170.3 632.8 -12.3 422 4245 0.00 1.08 0.00 0.000 6 0.000 0.037 2141 2585 3531 0 0 0 0 0 0

4569 -0.49 -170.3 671.5 -11.3 438 4572 0.00 1.00 0.00 0.000 4 0.000 0.028 2141 1895 3528 0 0 0 0 0 0

4675 -0.49 -170.3 684.0 -11.5 442 4682 0.00 1.08 0.00 0.000 6 0.000 0.038 2137 2584 3527 0 0 0 0 0 0

4968 end dive: TARGET_DEPTH_EXCEEDED

state 4968 begin apogee

4976 -0.13 0.0 717.3 10.8 457 5109 0.35 0.00 124.97 0.874 6 0.125 0.000 2251 2162 2870 0 0 0 0 0 0

5110 end apogee: CONTROL_FINISHED_OK

state 5110 begin climb

5113 0.49 170.3 724.0 0.0 463 5256 0.57 1.05 132.12 0.856 4 0.085 0.030 2458 1461 2173 0 0 0 0 0 0

5330 0.59 255.1 715.9 6.9 473 5402 0.00 1.10 65.93 0.837 6 0.000 0.031 2458 2178 1827 0 0 0 0 0 0

5719 0.61 271.1 680.0 9.7 492 5740 0.12 0.00 13.65 0.778 6 0.086 0.000 2526 2178 1762 0 0 0 0 0 0

6050 0.61 271.1 643.9 10.7 508 6054 0.12 1.10 0.00 0.000 4 0.138 0.034 2494 1469 1760 0 0 0 0 0 0

6083 0.62 276.9 640.5 10.1 509 6095 0.00 1.05 5.60 0.648 6 0.000 0.030 2494 2162 1740 0 0 0 0 0 0

6405 0.62 276.9 606.9 10.8 525 6406 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2162 1738 0 0 0 0 0 0

6713 0.65 301.9 576.6 9.3 540 6739 0.00 1.08 20.42 0.760 4 0.000 0.034 2498 1474 1637 0 0 0 0 0 0

6744 0.68 329.6 573.8 9.2 541 6771 0.00 1.05 22.40 0.740 6 0.000 0.032 2498 2155 1525 0 0 0 0 0 0

7084 0.72 363.0 542.3 9.0 557 7117 0.10 1.10 27.88 0.746 4 0.098 0.035 2555 1471 1389 0 0 0 0 0 0

7150 0.75 389.4 535.4 9.2 559 7176 0.00 1.08 21.70 0.714 6 0.000 0.031 2555 2168 1281 0 0 0 0 0 0

7490 0.79 419.4 503.1 9.1 575 7520 0.00 1.12 24.38 0.720 4 0.000 0.038 2555 2875 1159 0 0 0 0 0 0

7615 0.84 459.1 492.4 8.7 584 7651 0.00 1.08 31.60 0.711 6 0.000 0.029 2558 2166 998 0 0 0 0 0 0

7978 0.92 522.6 464.3 7.7 618 8034 0.10 1.15 49.12 0.711 4 0.098 0.036 2619 2874 738 0 0 0 0 0 0

8082 0.92 522.6 453.5 11.9 627 8086 0.08 1.08 0.00 0.000 6 0.138 0.030 2598 2172 738 0 0 0 0 0 0

8415 0.92 522.6 417.7 10.7 658 8419 0.00 1.05 0.00 0.000 4 0.000 0.037 2602 1476 737 0 0 0 0 0 0

8473 0.93 534.6 411.7 9.8 663 8488 0.00 1.05 11.12 0.633 6 0.000 0.030 2602 2168 688 0 0 0 0 0 0

8815 0.94 539.4 380.0 10.1 695 8827 0.00 1.10 5.25 0.535 4 0.000 0.031 2606 1458 669 0 0 0 0 0 0

8922 0.94 539.4 367.8 11.6 704 8929 0.00 1.08 0.00 0.000 6 0.000 0.029 2606 2167 669 0 0 0 0 0 0

9248 0.94 541.8 332.2 10.2 735 9260 0.00 1.10 3.83 0.461 4 0.000 0.037 2606 2867 659 0 0 0 0 0 0

9273 0.94 541.8 329.5 10.5 737 9277 0.00 1.08 0.00 0.000 6 0.000 0.029 2609 2156 659 0 0 0 0 0 0

9604 0.94 541.8 294.6 10.8 768 9608 0.00 1.02 0.00 0.000 4 0.000 0.037 2610 1475 659 0 0 0 0 0 0

9650 0.94 541.8 289.7 10.8 772 9653 0.00 1.05 0.00 0.000 6 0.000 0.030 2610 2166 659 0 0 0 0 0 0

9981 0.96 559.4 257.5 9.6 803 10004 0.00 1.08 15.40 0.595 4 0.000 0.037 2609 2864 588 0 0 0 0 0 0

10078 0.96 559.4 247.7 10.6 811 10084 0.00 1.08 0.00 0.000 6 0.000 0.029 2613 2155 588 0 0 0 0 0 0

10404 0.96 559.4 209.4 12.8 842 10408 0.00 1.02 0.00 0.000 4 0.000 0.037 2614 1470 589 0 0 0 0 0 0

10439 0.96 559.4 204.8 12.7 845 10443 0.00 1.05 0.00 0.000 6 0.000 0.029 2614 2166 589 0 0 0 0 0 0

10781 1.00 587.9 169.6 9.2 902 10811 0.00 1.02 23.12 0.539 4 0.000 0.032 2613 2870 471 0 0 0 0 0 0

11066 1.00 587.9 139.2 10.9 952 11073 0.00 1.08 0.00 0.000 6 0.000 0.028 2614 2156 476 0 0 0 0 0 0

11211 1.04 618.6 125.5 9.1 977 11225 0.00 1.12 9.23 0.503 4 0.000 0.034 2614 2866 439 0 0 0 0 0 0

11480 1.04 618.6 99.4 10.7 1024 11487 0.00 1.05 0.20 0.092 6 0.000 0.029 2614 2163 440 0 0 0 0 0 0

11624 1.04 618.6 83.1 12.1 1049 11631 0.00 1.05 0.00 0.000 4 0.000 0.034 2614 2859 441 0 0 0 0 0 0

11885 1.04 618.6 53.4 11.0 1095 11892 0.00 1.05 2.58 0.213 6 0.000 0.028 2614 2153 440 0 0 0 0 0 0

12030 1.04 618.6 37.2 11.0 1120 12037 0.00 1.08 0.08 0.206 4 0.000 0.032 2613 2859 440 0 0 0 0 0 0

12213 1.04 618.6 16.7 11.3 1152 12221 0.00 1.02 2.42 0.183 6 0.000 0.028 2614 2165 439 0 0 0 0 0 0

12355 end climb: SURFACE_DEPTH_REACHED

state 12355 begin surface coast

12389 end surface coast: CONTROL_FINISHED_OK

state 12389 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	673	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	73	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	57	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	-41440.633	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	0	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	171011,081137,2147.811,12028.180,35,0.9,35,-2.6	TGT_NAME	W2
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.35	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-64.9	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	171011,081738,2147.592,12028.246,13,1.1,13,-2.6	MHEAD_RNG_PITCHd_Wd	267.0,48825,-16.5,-10.312
SPEED_LIMITS	0.179,0.281	D_GRID	715

FINISH	0.5,1.005686	_10V_AH	9.8,82.211
SM_CCo	12467,0.00,0.000,0,0,441,595.59	FG_AHR_24Vo	0.000
SM_GC	1.49,6.20,0.00,0.00,0.029,0.000,0.000,197,2581,441,-6.46,-0.25,595.59,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12046.29,171011,040434	MEM	321668
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	67001,1183
HUMID	49.64	CAP_FILE_SIZE	140274,0
INTERNAL_PRESSURE	9.39489	CFSIZE	260165632,190857216
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	171011,114656,2147.149,12027.440,30,1.3,30,-2.6
_24V_AH	24.0,111.634

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	215	82.45	SBE_CT	809	24	466.53
Roll_motor	60	61	89.64	AA4330	0	0	0.00
VBD_pump_during_apogee	613	873	12852.84	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	30	103	76.01	nil	0	0	0.00
Iridium_during_connect	44	160	171.51	TMicro	0	0	0.00
Iridium_during_xfer	140	223	754.04	LAB	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.74
TT8	2771	19	537.87
LPSleep	6790	2	145.74
TT8_Active	648	19	125.78
TT8_Sampling	2268	39	884.63
TT8_CF8	341	45	153.13
TT8_Kalman	0	0	0.00
Analog_circuits	1793	12	210.94
GPS_charging	0	0	0.00
Compass	2031	15	298.65
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.49	-170.3	0.0	0.0	0	86	0.00	0.00	-67.35	0.000	2	0.000	0.000	171	2563	2358	0	0	0	0	0	0
90	-0.49	-170.3	3.4	-3.2	12	132	8.07	1.15	-27.33	0.000	4	0.216	0.062	2131	3282	3565	0	0	0	0	0	0
263	-0.49	-170.3	59.6	-37.8	42	270	0.00	1.00	0.00	0.000	6	0.000	0.024	2131	2577	3562	0	0	0	0	0	0
406	-0.49	-170.3	104.1	-27.4	67	413	0.00	1.08	0.00	0.000	4	0.000	0.037	2126	3279	3560	0	0	0	0	0	0
601	-0.49	-170.3	146.5	-19.2	101	607	0.00	0.98	0.00	0.000	6	0.000	0.023	2125	2590	3558	0	0	0	0	0	0
743	-0.49	-170.3	168.5	-14.3	126	750	0.00	1.05	0.00	0.000	4	0.000	0.037	2120	3280	3558	0	0	0	0	0	0
831	-0.49	-170.3	180.6	-13.1	141	838	0.00	0.98	0.00	0.000	6	0.000	0.023	2121	2593	3558	0	0	0	0	0	0
979	-0.49	-170.3	202.4	-15.6	166	982	0.00	0.95	0.00	0.000	4	0.000	0.024	2120	1884	3558	0	0	0	0	0	0
1074	-0.49	-170.3	217.5	-15.6	174	1081	0.00	1.02	0.00	0.000	6	0.000	0.033	2115	2570	3558	0	0	0	0	0	0
1399	-0.49	-170.3	269.5	-16.3	205	1403	0.00	1.08	0.00	0.000	4	0.000	0.037	2110	3290	3557	0	0	0	0	0	0
1503	-0.49	-170.3	285.1	-14.5	214	1507	0.08	1.00	0.00	0.000	6	0.136	0.022	2135	2586	3557	0	0	0	0	0	0
1833	-0.49	-170.3	329.2	-12.9	245	1837	0.00	1.08	0.00	0.000	4	0.000	0.038	2131	3287	3555	0	0	0	0	0	0
1880	-0.49	-170.3	335.5	-13.3	249	1884	0.00	1.00	0.00	0.000	6	0.000	0.024	2132	2591	3554	0	0	0	0	0	0
2211	-0.49	-170.3	374.7	-10.6	280	2215	0.00	0.98	0.00	0.000	4	0.000	0.024	2131	1876	3552	0	0	0	0	0	0
2360	-0.49	-170.3	389.7	-9.7	293	2364	0.00	1.08	0.00	0.000	6	0.000	0.034	2126	2586	3550	0	0	0	0	0	0
2691	-0.49	-170.3	427.8	-12.2	324	2695	0.00	1.00	0.00	0.000	4	0.000	0.024	2126	1876	3547	0	0	0	0	0	0
2776	-0.49	-170.3	438.2	-12.5	331	2783	0.00	1.08	0.00	0.000	6	0.000	0.034	2121	2583	3546	0	0	0	0	0	0
3101	-0.49	-170.3	481.9	-14.3	362	3105	0.00	0.98	0.00	0.000	4	0.000	0.025	2121	1893	3543	0	0	0	0	0	0
3186	-0.49	-170.3	494.2	-14.3	369	3193	0.00	1.05	0.00	0.000	6	0.000	0.035	2117	2583	3542	0	0	0	0	0	0
3503	-0.49	-170.3	540.2	-14.4	387	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	2583	3538	0	0	0	0	0	0
3814	-0.49	-170.3	577.5	-11.1	402	3817	0.00	1.00	0.00	0.000	4	0.000	0.028	2116	1884	3535	0	0	0	0	0	0
3853	-0.49	-170.3	582.3	-11.9	403	3861	0.00	1.10	0.00	0.000	6	0.000	0.038	2112	2588	3535	0	0	0	0	0	0
4169	-0.49	-170.3	623.4	-14.0	419	4173	0.12	1.02	0.00	0.000	4	0.168	0.028	2145	1890	3532	0	0	0	0	0	0
4241	-0.49	-170.3	632.8	-12.3	422	4245	0.00	1.08	0.00	0.000	6	0.000	0.037	2141	2585	3531	0	0	0	0	0	0
4569	-0.49	-170.3	671.5	-11.3	438	4572	0.00	1.00	0.00	0.000	4	0.000	0.028	2141	1895	3528	0	0	0	0	0	0
4675	-0.49	-170.3	684.0	-11.5	442	4682	0.00	1.08	0.00	0.000	6	0.000	0.038	2137	2584	3527	0	0	0	0	0	0
4968	end dive: TARGET_DEPTH_EXCEEDED
state	4968	begin apogee
4976	-0.13	0.0	717.3	10.8	457	5109	0.35	0.00	124.97	0.874	6	0.125	0.000	2251	2162	2870	0	0	0	0	0	0
5110	end apogee: CONTROL_FINISHED_OK
state	5110	begin climb
5113	0.49	170.3	724.0	0.0	463	5256	0.57	1.05	132.12	0.856	4	0.085	0.030	2458	1461	2173	0	0	0	0	0	0
5330	0.59	255.1	715.9	6.9	473	5402	0.00	1.10	65.93	0.837	6	0.000	0.031	2458	2178	1827	0	0	0	0	0	0
5719	0.61	271.1	680.0	9.7	492	5740	0.12	0.00	13.65	0.778	6	0.086	0.000	2526	2178	1762	0	0	0	0	0	0
6050	0.61	271.1	643.9	10.7	508	6054	0.12	1.10	0.00	0.000	4	0.138	0.034	2494	1469	1760	0	0	0	0	0	0
6083	0.62	276.9	640.5	10.1	509	6095	0.00	1.05	5.60	0.648	6	0.000	0.030	2494	2162	1740	0	0	0	0	0	0
6405	0.62	276.9	606.9	10.8	525	6406	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2162	1738	0	0	0	0	0	0
6713	0.65	301.9	576.6	9.3	540	6739	0.00	1.08	20.42	0.760	4	0.000	0.034	2498	1474	1637	0	0	0	0	0	0
6744	0.68	329.6	573.8	9.2	541	6771	0.00	1.05	22.40	0.740	6	0.000	0.032	2498	2155	1525	0	0	0	0	0	0
7084	0.72	363.0	542.3	9.0	557	7117	0.10	1.10	27.88	0.746	4	0.098	0.035	2555	1471	1389	0	0	0	0	0	0
7150	0.75	389.4	535.4	9.2	559	7176	0.00	1.08	21.70	0.714	6	0.000	0.031	2555	2168	1281	0	0	0	0	0	0
7490	0.79	419.4	503.1	9.1	575	7520	0.00	1.12	24.38	0.720	4	0.000	0.038	2555	2875	1159	0	0	0	0	0	0
7615	0.84	459.1	492.4	8.7	584	7651	0.00	1.08	31.60	0.711	6	0.000	0.029	2558	2166	998	0	0	0	0	0	0
7978	0.92	522.6	464.3	7.7	618	8034	0.10	1.15	49.12	0.711	4	0.098	0.036	2619	2874	738	0	0	0	0	0	0
8082	0.92	522.6	453.5	11.9	627	8086	0.08	1.08	0.00	0.000	6	0.138	0.030	2598	2172	738	0	0	0	0	0	0
8415	0.92	522.6	417.7	10.7	658	8419	0.00	1.05	0.00	0.000	4	0.000	0.037	2602	1476	737	0	0	0	0	0	0
8473	0.93	534.6	411.7	9.8	663	8488	0.00	1.05	11.12	0.633	6	0.000	0.030	2602	2168	688	0	0	0	0	0	0
8815	0.94	539.4	380.0	10.1	695	8827	0.00	1.10	5.25	0.535	4	0.000	0.031	2606	1458	669	0	0	0	0	0	0
8922	0.94	539.4	367.8	11.6	704	8929	0.00	1.08	0.00	0.000	6	0.000	0.029	2606	2167	669	0	0	0	0	0	0
9248	0.94	541.8	332.2	10.2	735	9260	0.00	1.10	3.83	0.461	4	0.000	0.037	2606	2867	659	0	0	0	0	0	0
9273	0.94	541.8	329.5	10.5	737	9277	0.00	1.08	0.00	0.000	6	0.000	0.029	2609	2156	659	0	0	0	0	0	0
9604	0.94	541.8	294.6	10.8	768	9608	0.00	1.02	0.00	0.000	4	0.000	0.037	2610	1475	659	0	0	0	0	0	0
9650	0.94	541.8	289.7	10.8	772	9653	0.00	1.05	0.00	0.000	6	0.000	0.030	2610	2166	659	0	0	0	0	0	0
9981	0.96	559.4	257.5	9.6	803	10004	0.00	1.08	15.40	0.595	4	0.000	0.037	2609	2864	588	0	0	0	0	0	0
10078	0.96	559.4	247.7	10.6	811	10084	0.00	1.08	0.00	0.000	6	0.000	0.029	2613	2155	588	0	0	0	0	0	0
10404	0.96	559.4	209.4	12.8	842	10408	0.00	1.02	0.00	0.000	4	0.000	0.037	2614	1470	589	0	0	0	0	0	0
10439	0.96	559.4	204.8	12.7	845	10443	0.00	1.05	0.00	0.000	6	0.000	0.029	2614	2166	589	0	0	0	0	0	0
10781	1.00	587.9	169.6	9.2	902	10811	0.00	1.02	23.12	0.539	4	0.000	0.032	2613	2870	471	0	0	0	0	0	0
11066	1.00	587.9	139.2	10.9	952	11073	0.00	1.08	0.00	0.000	6	0.000	0.028	2614	2156	476	0	0	0	0	0	0
11211	1.04	618.6	125.5	9.1	977	11225	0.00	1.12	9.23	0.503	4	0.000	0.034	2614	2866	439	0	0	0	0	0	0
11480	1.04	618.6	99.4	10.7	1024	11487	0.00	1.05	0.20	0.092	6	0.000	0.029	2614	2163	440	0	0	0	0	0	0
11624	1.04	618.6	83.1	12.1	1049	11631	0.00	1.05	0.00	0.000	4	0.000	0.034	2614	2859	441	0	0	0	0	0	0
11885	1.04	618.6	53.4	11.0	1095	11892	0.00	1.05	2.58	0.213	6	0.000	0.028	2614	2153	440	0	0	0	0	0	0
12030	1.04	618.6	37.2	11.0	1120	12037	0.00	1.08	0.08	0.206	4	0.000	0.032	2613	2859	440	0	0	0	0	0	0
12213	1.04	618.6	16.7	11.3	1152	12221	0.00	1.02	2.42	0.183	6	0.000	0.028	2614	2165	439	0	0	0	0	0	0
12355	end climb: SURFACE_DEPTH_REACHED
state	12355	begin surface coast
12389	end surface coast: CONTROL_FINISHED_OK
state	12389	begin surface