Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 747 * 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 747 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 55 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 44 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 1 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 -41791.297 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 2375 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 225 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 42 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 0.0099999998 ALTIM_PING_DEPTH 0 LA_RECORDABOVE 200.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 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 15 ALTIM_SENSITIVITY 2 LA_STARTS 23.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2500 XPDR_VALID 2

HEADING -1 C_ROLL_CLIMB 2100 XPDR_INHIBIT 90

ESCAPE_HEADING 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 128 D_SURF 3 PITCH_ADJ_DBAND 1 SURFACE_URGENCY_TRY 0

AH0_10V 110 D_TGT 990 PITCH_ADJ_GAIN 0.0099999998 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 42 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 1 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 -41791.297

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 2375 LA_UPLOADMAX 10000.0 ROLL_DEG 15 T_TURN 225

C_ROLL_CLIMB 2100 LA_XMITPROFILE 1.0 ROLL_MAX 3785 T_TURN_SAMPINT 5

C_ROLL_DIVE 2500 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 55 USE_BATHY -7

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 44 USE_ICE 0

DEVICE2 102 MASS 51861 SEABIRD_C_G -9.9512653 VBD_BLEED_AD_RATE 8

DEVICE3 39 MAX_BUOY 225 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 747 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 011111,062537,2142.822,12023.655,40,1.0,40,-2.6 TGT_NAME W3

_CALLS 2 TGT_LATLONG 1900.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.32 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -69.0 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 011111,063508,2143.022,12023.699,13,1.0,13,-2.6 MHEAD_RNG_PITCHd_Wd 190.4,304756,-14.3,-10.312

SPEED_LIMITS 0.179,0.314 D_GRID 712

Post-dive calculations and measurements:

FINISH 0.6,1.011118 _10V_AH 9.8,89.147

SM_CCo 13207,0.00,0.000,0,0,440,596.08 FG_AHR_24Vo 0.000

SM_GC 1.29,6.72,0.00,0.00,0.036,0.000,0.000,204,2495,440,-6.70,-0.14,596.08,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2131.85,12023.23,011111,060606 MEM 322732

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 73551,1285

HUMID 50.39 CAP_FILE_SIZE 165347,0

INTERNAL_PRESSURE 9.38513 CFSIZE 260165632,184233984

TCM_TEMP 25.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 011111,101700,2143.464,12023.238,36,1.0,41,-2.6

_24V_AH 24.2,124.255

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 107.17 SBE_CT 875 24 508.26

Roll_motor 47 72 83.41 AA4330 0 0 0.00

VBD_pump_during_apogee 633 868 13318.09 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 61 103 152.60 nil 0 0 0.00

Iridium_during_connect 38 160 150.83 TMicro 0 0 0.00

Iridium_during_xfer 242 223 1310.64 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 7.81

TT8 3070 19 595.80

LPSleep 6930 2 148.74

TT8_Active 668 19 129.78

TT8_Sampling 2657 39 1036.37

TT8_CF8 437 45 196.46

TT8_Kalman 0 0 0.00

Analog_circuits 1942 12 228.43

GPS_charging 0 0 0.00

Compass 2302 15 338.50

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.61 -219.0 0.0 0.0 0 95 0.00 0.00 -73.30 0.000 2 0.000 0.000 129 2496 2490 0 0 0 0 0 0

99 -0.61 -219.0 3.5 -3.0 13 141 8.48 0.88 -29.27 0.000 4 0.220 0.073 2171 3033 3763 0 0 0 0 0 0

150 -0.42 -219.0 13.2 -19.2 21 157 0.20 0.77 0.00 0.000 6 0.142 0.026 2231 2483 3764 0 0 0 0 0 0

498 -0.35 -219.0 68.0 -14.4 82 505 0.00 0.82 0.00 0.000 4 0.000 0.037 2229 3025 3762 0 0 0 0 0 0

630 -0.29 -219.0 88.2 -16.0 105 638 0.15 0.73 0.00 0.000 6 0.120 0.025 2278 2496 3762 0 0 0 0 0 0

978 -0.44 -219.0 127.2 -11.0 166 985 0.15 0.82 0.00 0.000 4 0.074 0.035 2213 3037 3762 0 0 0 0 0 0

1134 -0.49 -219.0 145.2 -10.4 193 1141 0.00 0.75 0.00 0.000 6 0.000 0.024 2213 2495 3762 0 0 0 0 0 0

1484 -0.56 -219.0 173.6 -10.0 254 1490 0.00 0.80 0.00 0.000 4 0.000 0.035 2210 3034 3762 0 0 0 0 0 0

1520 -0.63 -219.0 178.0 -10.6 260 1528 0.08 0.75 0.00 0.000 6 0.048 0.025 2145 2500 3762 0 0 0 0 0 0

1866 -0.63 -219.0 217.4 -10.6 307 1869 0.00 0.80 0.00 0.000 4 0.000 0.036 2141 3037 3762 0 0 0 0 0 0

2027 -0.55 -219.0 236.7 -12.3 321 2031 0.15 0.75 0.00 0.000 6 0.116 0.024 2192 2493 3762 0 0 0 0 0 0

2358 -0.62 -219.0 265.5 -8.7 352 2362 0.00 0.80 0.00 0.000 4 0.000 0.037 2192 3028 3762 0 0 0 0 0 0

2502 -0.71 -219.0 277.7 -8.0 364 2509 0.10 0.73 0.00 0.000 6 0.043 0.025 2112 2499 3761 0 0 0 0 0 0

2828 -0.71 -219.0 309.0 -9.6 395 2832 0.12 0.70 0.00 0.000 4 0.128 0.027 2150 1973 3760 0 0 0 0 0 0

2912 -0.71 -219.0 317.5 -10.5 402 2919 0.00 0.77 0.00 0.000 6 0.000 0.034 2150 2498 3760 0 0 0 0 0 0

3238 -0.76 -219.0 359.2 -13.6 433 3241 0.00 0.70 0.00 0.000 4 0.000 0.025 2150 1974 3758 0 0 0 0 0 0

3323 -0.76 -219.0 370.5 -13.3 440 3329 0.00 0.77 0.00 0.000 6 0.000 0.034 2150 2497 3757 0 0 0 0 0 0

3648 -0.81 -219.0 411.1 -11.2 471 3653 0.12 0.73 0.00 0.000 4 0.078 0.028 2078 1975 3755 0 0 0 0 0 0

3768 -0.70 -219.0 428.6 -15.2 481 3776 0.22 0.80 0.00 0.000 6 0.123 0.036 2146 2502 3753 0 0 0 0 0 0

4096 -0.73 -219.0 456.4 -8.4 512 4099 0.00 0.70 0.00 0.000 4 0.000 0.026 2146 1984 3751 0 0 0 0 0 0

4157 -0.73 -219.0 462.6 -9.7 517 4164 0.00 0.77 0.00 0.000 6 0.000 0.036 2143 2501 3751 0 0 0 0 0 0

4485 -0.77 -219.0 492.7 -9.3 548 4488 0.00 0.70 0.00 0.000 4 0.000 0.028 2144 1986 3748 0 0 0 0 0 0

4586 -0.78 -219.0 502.5 -9.7 556 4590 0.00 0.77 0.00 0.000 6 0.000 0.037 2140 2498 3747 0 0 0 0 0 0

4908 -0.82 -219.0 530.3 -8.2 572 4912 0.00 0.70 0.00 0.000 4 0.000 0.028 2140 1980 3745 0 0 0 0 0 0

4943 -0.85 -219.0 533.2 -8.0 573 4948 0.08 0.80 0.00 0.000 6 0.052 0.037 2083 2504 3744 0 0 0 0 0 0

5265 -0.75 -219.0 576.0 -14.7 589 5270 0.17 0.75 0.00 0.000 4 0.145 0.028 2133 1991 3742 0 0 0 0 0 0

5414 -0.70 -219.0 594.6 -13.2 595 5418 0.00 0.77 0.00 0.000 6 0.000 0.039 2130 2494 3741 0 0 0 0 0 0

5736 -0.66 -219.0 636.6 -12.7 611 5740 0.12 0.82 0.00 0.000 4 0.151 0.043 2163 3023 3738 0 0 0 0 0 0

5822 -0.70 -219.0 645.4 -9.7 614 5828 0.00 0.73 0.00 0.000 6 0.000 0.028 2163 2510 3737 0 0 0 0 0 0

6139 -0.78 -219.0 674.0 -9.2 630 6143 0.12 0.75 0.00 0.000 4 0.085 0.029 2093 1970 3735 0 0 0 0 0 0

6191 -0.71 -219.0 680.1 -13.3 632 6196 0.15 0.82 0.00 0.000 6 0.121 0.038 2139 2504 3734 0 0 0 0 0 0

6475 end dive: TARGET_DEPTH_EXCEEDED

state 6475 begin apogee

6482 -0.19 0.0 713.1 10.6 646 6651 0.52 0.00 162.43 0.868 6 0.109 0.000 2313 2088 2869 0 0 0 0 0 0

6652 end apogee: CONTROL_FINISHED_OK

state 6652 begin climb

6655 0.61 219.0 726.5 0.0 654 6828 0.68 0.80 166.85 0.857 4 0.041 0.031 2594 1573 1976 0 0 0 0 0 0

7071 0.50 219.0 687.8 15.2 673 7075 0.17 0.82 0.00 0.000 6 0.137 0.031 2541 2122 1974 0 0 0 0 0 0

7400 0.44 219.0 647.8 11.7 689 7404 0.00 0.73 0.00 0.000 4 0.000 0.037 2540 2619 1972 0 0 0 0 0 0

7568 0.37 219.0 628.2 11.4 696 7572 0.15 0.75 0.00 0.000 6 0.133 0.030 2495 2109 1971 0 0 0 0 0 0

7895 0.40 247.3 596.5 9.4 712 7921 0.00 0.75 22.42 0.775 4 0.000 0.028 2495 2624 1859 0 0 0 0 0 0

8084 0.48 305.1 579.7 8.5 720 8134 0.08 0.77 44.17 0.772 6 0.056 0.030 2549 2095 1624 0 0 0 0 0 0

8443 0.55 363.0 547.2 8.5 738 8493 0.00 0.80 44.70 0.754 4 0.000 0.034 2552 1579 1389 0 0 0 0 0 0

8532 0.65 433.7 539.9 8.1 742 8596 0.00 0.77 54.67 0.742 6 0.000 0.031 2552 2096 1100 0 0 0 0 0 0

8905 0.81 495.4 509.4 8.3 760 8959 0.25 0.82 48.65 0.730 4 0.061 0.037 2669 2621 848 0 0 0 0 0 0

9069 0.73 495.4 483.8 18.0 771 9073 0.17 0.77 0.00 0.000 6 0.134 0.031 2616 2101 853 0 0 0 0 0 0

9401 0.77 495.4 435.4 13.7 802 9405 0.00 0.77 0.00 0.000 4 0.000 0.037 2619 1572 858 0 0 0 0 0 0

9460 0.76 495.4 427.1 14.7 807 9474 0.00 0.77 3.67 0.468 6 0.000 0.030 2619 2095 849 0 0 0 0 0 0

9790 0.75 495.4 377.3 13.5 838 9794 0.00 0.77 0.00 0.000 4 0.000 0.032 2622 1569 848 0 0 0 0 0 0

9819 0.73 495.4 373.8 12.5 840 9826 0.00 0.80 0.00 0.000 6 0.000 0.029 2622 2110 848 0 0 0 0 0 0

10145 0.79 523.9 345.0 9.4 871 10176 0.00 0.77 22.45 0.636 4 0.000 0.037 2622 2619 733 0 0 0 0 0 0

10213 0.82 523.9 337.6 10.9 877 10216 0.00 0.77 0.00 0.000 6 0.000 0.031 2624 2096 734 0 0 0 0 0 0

10544 0.85 523.9 294.5 12.8 908 10548 0.00 0.77 0.00 0.000 4 0.000 0.033 2624 2622 736 0 0 0 0 0 0

10581 0.86 523.9 289.7 13.6 911 10585 0.00 0.77 0.00 0.000 6 0.000 0.031 2627 2093 736 0 0 0 0 0 0

10913 0.91 536.5 251.0 9.9 942 10929 0.12 0.73 12.23 0.573 4 0.088 0.028 2692 1576 680 0 0 0 0 0 0

11017 0.86 536.5 238.7 12.4 950 11024 0.10 0.77 0.00 0.000 6 0.122 0.030 2659 2098 680 0 0 0 0 0 0

11343 0.91 550.9 204.2 9.9 981 11358 0.00 0.82 12.18 0.542 4 0.000 0.032 2660 1565 623 0 0 0 0 0 0

11401 0.98 570.5 198.7 9.7 986 11426 0.00 0.80 16.17 0.498 6 0.000 0.029 2660 2103 542 0 0 0 0 0 0

11766 1.14 624.2 161.3 8.6 1050 11791 0.22 0.80 20.48 0.513 4 0.061 0.033 2765 2635 440 0 0 0 0 0 0

11806 1.08 624.2 156.8 12.4 1056 11813 0.12 0.77 0.00 0.000 6 0.146 0.030 2731 2108 440 0 0 0 0 0 0

12155 1.04 624.2 110.3 13.9 1117 12162 0.00 0.75 0.00 0.000 4 0.000 0.031 2731 2624 439 0 0 0 0 0 0

12180 0.98 624.2 106.1 14.5 1121 12188 0.12 0.77 0.00 0.000 6 0.132 0.031 2691 2096 439 0 0 0 0 0 0

12530 1.13 655.6 70.6 9.3 1182 12537 0.15 0.77 0.00 0.000 4 0.079 0.035 2759 1571 440 0 0 0 0 0 0

12666 1.10 655.6 53.6 13.5 1205 12674 0.08 0.77 0.05 0.143 6 0.111 0.028 2733 2113 441 0 0 0 0 0 0

13015 1.15 655.6 12.3 10.8 1266 13022 0.00 0.75 2.65 0.215 4 0.000 0.033 2733 2616 440 0 0 0 0 0 0

13058 1.18 655.6 7.5 11.1 1273 13066 0.00 0.75 0.05 0.145 6 0.000 0.028 2734 2094 439 0 0 0 0 0 0

13099 end climb: SURFACE_DEPTH_REACHED

state 13099 begin surface coast

13128 end surface coast: CONTROL_FINISHED_OK

state 13128 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	747	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	55	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	44	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	1	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	-41791.297	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	2375	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	225	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	42	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	0.0099999998	ALTIM_PING_DEPTH	0	LA_RECORDABOVE	200.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	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	15	ALTIM_SENSITIVITY	2	LA_STARTS	23.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2500	XPDR_VALID	2
HEADING	-1	C_ROLL_CLIMB	2100	XPDR_INHIBIT	90
ESCAPE_HEADING	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003

GPS1	011111,062537,2142.822,12023.655,40,1.0,40,-2.6	TGT_NAME	W3
_CALLS	2	TGT_LATLONG	1900.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.32	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-69.0	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	011111,063508,2143.022,12023.699,13,1.0,13,-2.6	MHEAD_RNG_PITCHd_Wd	190.4,304756,-14.3,-10.312
SPEED_LIMITS	0.179,0.314	D_GRID	712

FINISH	0.6,1.011118	_10V_AH	9.8,89.147
SM_CCo	13207,0.00,0.000,0,0,440,596.08	FG_AHR_24Vo	0.000
SM_GC	1.29,6.72,0.00,0.00,0.036,0.000,0.000,204,2495,440,-6.70,-0.14,596.08,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2131.85,12023.23,011111,060606	MEM	322732
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	73551,1285
HUMID	50.39	CAP_FILE_SIZE	165347,0
INTERNAL_PRESSURE	9.38513	CFSIZE	260165632,184233984
TCM_TEMP	25.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	011111,101700,2143.464,12023.238,36,1.0,41,-2.6
_24V_AH	24.2,124.255

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	107.17	SBE_CT	875	24	508.26
Roll_motor	47	72	83.41	AA4330	0	0	0.00
VBD_pump_during_apogee	633	868	13318.09	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	61	103	152.60	nil	0	0	0.00
Iridium_during_connect	38	160	150.83	TMicro	0	0	0.00
Iridium_during_xfer	242	223	1310.64	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	7.81
TT8	3070	19	595.80
LPSleep	6930	2	148.74
TT8_Active	668	19	129.78
TT8_Sampling	2657	39	1036.37
TT8_CF8	437	45	196.46
TT8_Kalman	0	0	0.00
Analog_circuits	1942	12	228.43
GPS_charging	0	0	0.00
Compass	2302	15	338.50
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.61	-219.0	0.0	0.0	0	95	0.00	0.00	-73.30	0.000	2	0.000	0.000	129	2496	2490	0	0	0	0	0	0
99	-0.61	-219.0	3.5	-3.0	13	141	8.48	0.88	-29.27	0.000	4	0.220	0.073	2171	3033	3763	0	0	0	0	0	0
150	-0.42	-219.0	13.2	-19.2	21	157	0.20	0.77	0.00	0.000	6	0.142	0.026	2231	2483	3764	0	0	0	0	0	0
498	-0.35	-219.0	68.0	-14.4	82	505	0.00	0.82	0.00	0.000	4	0.000	0.037	2229	3025	3762	0	0	0	0	0	0
630	-0.29	-219.0	88.2	-16.0	105	638	0.15	0.73	0.00	0.000	6	0.120	0.025	2278	2496	3762	0	0	0	0	0	0
978	-0.44	-219.0	127.2	-11.0	166	985	0.15	0.82	0.00	0.000	4	0.074	0.035	2213	3037	3762	0	0	0	0	0	0
1134	-0.49	-219.0	145.2	-10.4	193	1141	0.00	0.75	0.00	0.000	6	0.000	0.024	2213	2495	3762	0	0	0	0	0	0
1484	-0.56	-219.0	173.6	-10.0	254	1490	0.00	0.80	0.00	0.000	4	0.000	0.035	2210	3034	3762	0	0	0	0	0	0
1520	-0.63	-219.0	178.0	-10.6	260	1528	0.08	0.75	0.00	0.000	6	0.048	0.025	2145	2500	3762	0	0	0	0	0	0
1866	-0.63	-219.0	217.4	-10.6	307	1869	0.00	0.80	0.00	0.000	4	0.000	0.036	2141	3037	3762	0	0	0	0	0	0
2027	-0.55	-219.0	236.7	-12.3	321	2031	0.15	0.75	0.00	0.000	6	0.116	0.024	2192	2493	3762	0	0	0	0	0	0
2358	-0.62	-219.0	265.5	-8.7	352	2362	0.00	0.80	0.00	0.000	4	0.000	0.037	2192	3028	3762	0	0	0	0	0	0
2502	-0.71	-219.0	277.7	-8.0	364	2509	0.10	0.73	0.00	0.000	6	0.043	0.025	2112	2499	3761	0	0	0	0	0	0
2828	-0.71	-219.0	309.0	-9.6	395	2832	0.12	0.70	0.00	0.000	4	0.128	0.027	2150	1973	3760	0	0	0	0	0	0
2912	-0.71	-219.0	317.5	-10.5	402	2919	0.00	0.77	0.00	0.000	6	0.000	0.034	2150	2498	3760	0	0	0	0	0	0
3238	-0.76	-219.0	359.2	-13.6	433	3241	0.00	0.70	0.00	0.000	4	0.000	0.025	2150	1974	3758	0	0	0	0	0	0
3323	-0.76	-219.0	370.5	-13.3	440	3329	0.00	0.77	0.00	0.000	6	0.000	0.034	2150	2497	3757	0	0	0	0	0	0
3648	-0.81	-219.0	411.1	-11.2	471	3653	0.12	0.73	0.00	0.000	4	0.078	0.028	2078	1975	3755	0	0	0	0	0	0
3768	-0.70	-219.0	428.6	-15.2	481	3776	0.22	0.80	0.00	0.000	6	0.123	0.036	2146	2502	3753	0	0	0	0	0	0
4096	-0.73	-219.0	456.4	-8.4	512	4099	0.00	0.70	0.00	0.000	4	0.000	0.026	2146	1984	3751	0	0	0	0	0	0
4157	-0.73	-219.0	462.6	-9.7	517	4164	0.00	0.77	0.00	0.000	6	0.000	0.036	2143	2501	3751	0	0	0	0	0	0
4485	-0.77	-219.0	492.7	-9.3	548	4488	0.00	0.70	0.00	0.000	4	0.000	0.028	2144	1986	3748	0	0	0	0	0	0
4586	-0.78	-219.0	502.5	-9.7	556	4590	0.00	0.77	0.00	0.000	6	0.000	0.037	2140	2498	3747	0	0	0	0	0	0
4908	-0.82	-219.0	530.3	-8.2	572	4912	0.00	0.70	0.00	0.000	4	0.000	0.028	2140	1980	3745	0	0	0	0	0	0
4943	-0.85	-219.0	533.2	-8.0	573	4948	0.08	0.80	0.00	0.000	6	0.052	0.037	2083	2504	3744	0	0	0	0	0	0
5265	-0.75	-219.0	576.0	-14.7	589	5270	0.17	0.75	0.00	0.000	4	0.145	0.028	2133	1991	3742	0	0	0	0	0	0
5414	-0.70	-219.0	594.6	-13.2	595	5418	0.00	0.77	0.00	0.000	6	0.000	0.039	2130	2494	3741	0	0	0	0	0	0
5736	-0.66	-219.0	636.6	-12.7	611	5740	0.12	0.82	0.00	0.000	4	0.151	0.043	2163	3023	3738	0	0	0	0	0	0
5822	-0.70	-219.0	645.4	-9.7	614	5828	0.00	0.73	0.00	0.000	6	0.000	0.028	2163	2510	3737	0	0	0	0	0	0
6139	-0.78	-219.0	674.0	-9.2	630	6143	0.12	0.75	0.00	0.000	4	0.085	0.029	2093	1970	3735	0	0	0	0	0	0
6191	-0.71	-219.0	680.1	-13.3	632	6196	0.15	0.82	0.00	0.000	6	0.121	0.038	2139	2504	3734	0	0	0	0	0	0
6475	end dive: TARGET_DEPTH_EXCEEDED
state	6475	begin apogee
6482	-0.19	0.0	713.1	10.6	646	6651	0.52	0.00	162.43	0.868	6	0.109	0.000	2313	2088	2869	0	0	0	0	0	0
6652	end apogee: CONTROL_FINISHED_OK
state	6652	begin climb
6655	0.61	219.0	726.5	0.0	654	6828	0.68	0.80	166.85	0.857	4	0.041	0.031	2594	1573	1976	0	0	0	0	0	0
7071	0.50	219.0	687.8	15.2	673	7075	0.17	0.82	0.00	0.000	6	0.137	0.031	2541	2122	1974	0	0	0	0	0	0
7400	0.44	219.0	647.8	11.7	689	7404	0.00	0.73	0.00	0.000	4	0.000	0.037	2540	2619	1972	0	0	0	0	0	0
7568	0.37	219.0	628.2	11.4	696	7572	0.15	0.75	0.00	0.000	6	0.133	0.030	2495	2109	1971	0	0	0	0	0	0
7895	0.40	247.3	596.5	9.4	712	7921	0.00	0.75	22.42	0.775	4	0.000	0.028	2495	2624	1859	0	0	0	0	0	0
8084	0.48	305.1	579.7	8.5	720	8134	0.08	0.77	44.17	0.772	6	0.056	0.030	2549	2095	1624	0	0	0	0	0	0
8443	0.55	363.0	547.2	8.5	738	8493	0.00	0.80	44.70	0.754	4	0.000	0.034	2552	1579	1389	0	0	0	0	0	0
8532	0.65	433.7	539.9	8.1	742	8596	0.00	0.77	54.67	0.742	6	0.000	0.031	2552	2096	1100	0	0	0	0	0	0
8905	0.81	495.4	509.4	8.3	760	8959	0.25	0.82	48.65	0.730	4	0.061	0.037	2669	2621	848	0	0	0	0	0	0
9069	0.73	495.4	483.8	18.0	771	9073	0.17	0.77	0.00	0.000	6	0.134	0.031	2616	2101	853	0	0	0	0	0	0
9401	0.77	495.4	435.4	13.7	802	9405	0.00	0.77	0.00	0.000	4	0.000	0.037	2619	1572	858	0	0	0	0	0	0
9460	0.76	495.4	427.1	14.7	807	9474	0.00	0.77	3.67	0.468	6	0.000	0.030	2619	2095	849	0	0	0	0	0	0
9790	0.75	495.4	377.3	13.5	838	9794	0.00	0.77	0.00	0.000	4	0.000	0.032	2622	1569	848	0	0	0	0	0	0
9819	0.73	495.4	373.8	12.5	840	9826	0.00	0.80	0.00	0.000	6	0.000	0.029	2622	2110	848	0	0	0	0	0	0
10145	0.79	523.9	345.0	9.4	871	10176	0.00	0.77	22.45	0.636	4	0.000	0.037	2622	2619	733	0	0	0	0	0	0
10213	0.82	523.9	337.6	10.9	877	10216	0.00	0.77	0.00	0.000	6	0.000	0.031	2624	2096	734	0	0	0	0	0	0
10544	0.85	523.9	294.5	12.8	908	10548	0.00	0.77	0.00	0.000	4	0.000	0.033	2624	2622	736	0	0	0	0	0	0
10581	0.86	523.9	289.7	13.6	911	10585	0.00	0.77	0.00	0.000	6	0.000	0.031	2627	2093	736	0	0	0	0	0	0
10913	0.91	536.5	251.0	9.9	942	10929	0.12	0.73	12.23	0.573	4	0.088	0.028	2692	1576	680	0	0	0	0	0	0
11017	0.86	536.5	238.7	12.4	950	11024	0.10	0.77	0.00	0.000	6	0.122	0.030	2659	2098	680	0	0	0	0	0	0
11343	0.91	550.9	204.2	9.9	981	11358	0.00	0.82	12.18	0.542	4	0.000	0.032	2660	1565	623	0	0	0	0	0	0
11401	0.98	570.5	198.7	9.7	986	11426	0.00	0.80	16.17	0.498	6	0.000	0.029	2660	2103	542	0	0	0	0	0	0
11766	1.14	624.2	161.3	8.6	1050	11791	0.22	0.80	20.48	0.513	4	0.061	0.033	2765	2635	440	0	0	0	0	0	0
11806	1.08	624.2	156.8	12.4	1056	11813	0.12	0.77	0.00	0.000	6	0.146	0.030	2731	2108	440	0	0	0	0	0	0
12155	1.04	624.2	110.3	13.9	1117	12162	0.00	0.75	0.00	0.000	4	0.000	0.031	2731	2624	439	0	0	0	0	0	0
12180	0.98	624.2	106.1	14.5	1121	12188	0.12	0.77	0.00	0.000	6	0.132	0.031	2691	2096	439	0	0	0	0	0	0
12530	1.13	655.6	70.6	9.3	1182	12537	0.15	0.77	0.00	0.000	4	0.079	0.035	2759	1571	440	0	0	0	0	0	0
12666	1.10	655.6	53.6	13.5	1205	12674	0.08	0.77	0.05	0.143	6	0.111	0.028	2733	2113	441	0	0	0	0	0	0
13015	1.15	655.6	12.3	10.8	1266	13022	0.00	0.75	2.65	0.215	4	0.000	0.033	2733	2616	440	0	0	0	0	0	0
13058	1.18	655.6	7.5	11.1	1273	13066	0.00	0.75	0.05	0.145	6	0.000	0.028	2734	2094	439	0	0	0	0	0	0
13099	end climb: SURFACE_DEPTH_REACHED
state	13099	begin surface coast
13128	end surface coast: CONTROL_FINISHED_OK
state	13128	begin surface