Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 752 * 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 752 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 56 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 45 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 -41797.676 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 -41797.676

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 56 USE_BATHY -7

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 45 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 752 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 021111,035407,2143.840,12024.630,37,0.9,37,-2.6 TGT_NAME W3

_CALLS 1 TGT_LATLONG 1900.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.27 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -59.1 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 021111,040050,2143.938,12024.675,12,1.2,12,-2.6 MHEAD_RNG_PITCHd_Wd 190.7,306672,-14.3,-10.312

SPEED_LIMITS 0.179,0.314 D_GRID 712

Post-dive calculations and measurements:

FINISH 0.7,1.022188 _10V_AH 9.7,89.588

SM_CCo 13631,0.00,0.000,0,0,440,595.83 FG_AHR_24Vo 0.000

SM_GC 1.37,6.55,0.00,0.00,0.030,0.000,0.000,199,2497,440,-6.70,-0.08,595.83,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2141.13,12027.58,011111,232356 MEM 322728

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 76810,1330

HUMID 49.80 CAP_FILE_SIZE 163605,0

INTERNAL_PRESSURE 9.37536 CFSIZE 260165632,183808000

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 021111,074936,2143.420,12023.702,31,0.9,31,-2.6

_24V_AH 24.2,125.064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 220 106.10 SBE_CT 908 24 527.45

Roll_motor 46 63 71.03 AA4330 0 0 0.00

VBD_pump_during_apogee 630 868 13246.65 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 23 103 57.80 nil 0 0 0.00

Iridium_during_connect 48 160 185.86 TMicro 0 0 0.00

Iridium_during_xfer 168 223 910.77 LAB 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.17

TT8 3177 19 610.19

LPSleep 7163 2 152.18

TT8_Active 651 19 125.09

TT8_Sampling 2608 39 1007.03

TT8_CF8 417 45 185.68

TT8_Kalman 0 0 0.00

Analog_circuits 1937 12 225.58

GPS_charging 0 0 0.00

Compass 2346 15 341.48

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 -0.61 -219.0 0.0 0.0 0 92 0.00 0.00 -73.32 0.000 2 0.000 0.000 139 2485 2493 0 0 0 0 0 0

96 -0.61 -219.0 3.6 -3.3 13 138 8.45 0.77 -28.20 0.000 4 0.220 0.063 2173 1950 3764 0 0 0 0 0 0

231 -0.49 -219.0 29.4 -17.1 36 239 0.12 0.82 0.00 0.000 6 0.131 0.034 2210 2496 3764 0 0 0 0 0 0

579 -0.41 -219.0 82.3 -14.3 97 586 0.12 0.82 0.00 0.000 4 0.150 0.040 2244 3033 3762 0 0 0 0 0 0

709 -0.36 -219.0 97.9 -11.0 119 716 0.00 0.77 0.00 0.000 6 0.000 0.024 2244 2472 3762 0 0 0 0 0 0

1058 -0.49 -219.0 128.2 -11.5 180 1064 0.00 0.62 0.00 0.000 4 0.000 0.024 2244 1975 3763 0 0 0 0 0 0

1321 -0.65 -219.0 152.7 -7.7 226 1328 0.17 0.77 0.00 0.000 6 0.046 0.033 2162 2501 3763 0 0 0 0 0 0

1671 -0.69 -219.0 186.9 -9.2 287 1677 0.00 0.70 0.00 0.000 4 0.000 0.024 2162 1971 3763 0 0 0 0 0 0

1715 -0.71 -219.0 191.3 -9.6 294 1721 0.00 0.77 0.00 0.000 6 0.000 0.034 2158 2498 3763 0 0 0 0 0 0

2047 -0.74 -219.0 222.7 -9.9 333 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2498 3763 0 0 0 0 0 0

2368 -0.79 -219.0 258.1 -11.8 363 2373 0.12 0.73 0.00 0.000 4 0.077 0.026 2083 1975 3763 0 0 0 0 0 0

2396 -0.75 -219.0 262.3 -12.6 365 2403 0.15 0.77 0.00 0.000 6 0.132 0.034 2126 2491 3762 0 0 0 0 0 0

2721 -0.68 -219.0 309.5 -16.3 396 2723 0.10 0.00 0.00 0.000 6 0.168 0.000 2153 2491 3761 0 0 0 0 0 0

3041 -0.72 -219.0 345.9 -8.6 426 3045 0.00 0.80 0.00 0.000 4 0.000 0.039 2152 3025 3759 0 0 0 0 0 0

3125 -0.76 -219.0 351.3 -6.0 433 3132 0.00 0.73 0.00 0.000 6 0.000 0.026 2152 2505 3759 0 0 0 0 0 0

3451 -0.81 -219.0 374.7 -11.1 464 3455 0.12 0.82 0.00 0.000 4 0.080 0.040 2077 3029 3756 0 0 0 0 0 0

3631 -0.68 -219.0 406.6 -18.2 480 3636 0.22 0.75 0.00 0.000 6 0.141 0.027 2147 2498 3754 0 0 0 0 0 0

3963 -0.65 -219.0 446.4 -9.9 511 3967 0.00 0.80 0.00 0.000 4 0.000 0.040 2144 3019 3752 0 0 0 0 0 0

4049 -0.61 -219.0 454.7 -9.8 518 4057 0.08 0.75 0.00 0.000 6 0.120 0.027 2172 2494 3751 0 0 0 0 0 0

4377 -0.70 -219.0 478.4 -7.4 549 4381 0.00 0.80 0.00 0.000 4 0.000 0.041 2170 3017 3749 0 0 0 0 0 0

4440 -0.78 -219.0 483.6 -8.0 554 4448 0.10 0.75 0.00 0.000 6 0.047 0.027 2103 2494 3749 0 0 0 0 0 0

4764 -0.77 -219.0 515.2 -10.2 578 4768 0.00 0.82 0.00 0.000 4 0.000 0.041 2099 3029 3746 0 0 0 0 0 0

4935 -0.68 -219.0 537.2 -14.6 585 4940 0.17 0.75 0.00 0.000 6 0.132 0.027 2154 2504 3744 0 0 0 0 0 0

5259 -0.74 -219.0 570.0 -9.3 601 5263 0.00 0.80 0.00 0.000 4 0.000 0.041 2152 3021 3742 0 0 0 0 0 0

5317 -0.80 -219.0 575.4 -8.8 603 5322 0.08 0.75 0.00 0.000 6 0.056 0.028 2097 2501 3742 0 0 0 0 0 0

5640 -0.80 -219.0 602.8 -7.9 619 5643 0.00 0.73 0.00 0.000 4 0.000 0.028 2097 1962 3739 0 0 0 0 0 0

5718 -0.75 -219.0 609.7 -9.0 622 5723 0.10 0.82 0.00 0.000 6 0.119 0.037 2127 2500 3739 0 0 0 0 0 0

6044 -0.71 -219.0 639.3 -9.7 638 6048 0.00 0.77 0.00 0.000 4 0.000 0.028 2128 1971 3736 0 0 0 0 0 0

6072 -0.67 -219.0 642.9 -10.2 639 6077 0.08 0.80 0.00 0.000 6 0.129 0.039 2151 2489 3736 0 0 0 0 0 0

6403 -0.73 -219.0 675.2 -11.3 655 6407 0.00 0.82 0.00 0.000 4 0.000 0.042 2151 3030 3734 0 0 0 0 0 0

6450 -0.76 -219.0 680.6 -10.8 657 6454 0.00 0.77 0.00 0.000 6 0.000 0.028 2151 2501 3733 0 0 0 0 0 0

6785 -0.83 -219.0 709.1 -8.3 673 6789 0.12 0.85 0.00 0.000 4 0.086 0.043 2083 3028 3732 0 0 0 0 0 0

6815 end dive: TARGET_DEPTH_EXCEEDED

state 6815 begin apogee

6823 -0.19 0.0 712.4 8.5 674 6993 0.73 0.00 163.07 0.868 6 0.127 0.000 2306 2095 2869 0 0 0 0 0 0

6994 end apogee: CONTROL_FINISHED_OK

state 6994 begin climb

6997 0.61 219.0 720.3 0.0 682 7171 0.73 0.82 167.55 0.857 4 0.049 0.034 2590 1572 1976 0 0 0 0 0 0

7423 0.50 219.0 675.9 12.0 701 7427 0.15 0.82 0.00 0.000 6 0.137 0.032 2544 2116 1973 0 0 0 0 0 0

7754 0.58 342.5 647.7 6.4 717 7853 0.00 0.75 93.47 0.817 4 0.000 0.031 2544 2621 1473 0 0 0 0 0 0

7992 0.64 415.7 628.3 8.0 727 8057 0.08 0.77 57.12 0.792 6 0.062 0.030 2591 2093 1174 0 0 0 0 0 0

8366 0.61 415.7 584.8 13.9 745 8370 0.00 0.73 0.00 0.000 4 0.000 0.034 2595 1588 1178 0 0 0 0 0 0

8444 0.57 415.7 572.3 15.5 748 8449 0.10 0.77 0.00 0.000 6 0.122 0.028 2562 2115 1178 0 0 0 0 0 0

8768 0.62 415.7 532.3 11.0 764 8772 0.00 0.77 0.00 0.000 4 0.000 0.032 2563 1585 1177 0 0 0 0 0 0

8830 0.70 448.7 526.3 9.3 766 8862 0.08 0.75 27.17 0.738 6 0.058 0.030 2618 2093 1039 0 0 0 0 0 0

9183 0.77 511.4 492.3 8.3 787 9238 0.00 0.75 48.50 0.724 4 0.000 0.031 2618 2618 784 0 0 0 0 0 0

9330 0.71 511.4 478.4 10.6 800 9334 0.00 0.77 0.00 0.000 6 0.000 0.030 2621 2096 788 0 0 0 0 0 0

9662 0.73 511.4 446.2 10.9 831 9674 0.00 0.80 3.88 0.493 4 0.000 0.034 2625 1572 784 0 0 0 0 0 0

9709 0.73 511.4 440.8 10.8 835 9713 0.00 0.77 0.00 0.000 6 0.000 0.029 2625 2097 785 0 0 0 0 0 0

10040 0.72 511.4 397.9 14.3 866 10042 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2097 786 0 0 0 0 0 0

10361 0.72 511.4 359.2 10.7 896 10364 0.00 0.77 0.00 0.000 4 0.000 0.031 2628 1568 786 0 0 0 0 0 0

10431 0.69 511.4 351.5 11.4 902 10436 0.08 0.77 0.00 0.000 6 0.129 0.028 2601 2100 785 0 0 0 0 0 0

10763 0.88 596.1 322.8 7.6 933 10832 0.17 0.75 64.40 0.627 4 0.069 0.031 2685 2623 440 0 0 0 0 0 0

10934 0.82 596.1 302.1 15.2 948 10938 0.12 0.77 0.00 0.000 6 0.129 0.030 2647 2107 442 0 0 0 0 0 0

11266 0.85 596.1 263.8 11.1 979 11270 0.00 0.77 0.00 0.000 4 0.000 0.035 2650 1574 442 0 0 0 0 0 0

11339 0.92 596.1 255.1 11.5 985 11346 0.00 0.77 0.00 0.000 6 0.000 0.028 2650 2099 442 0 0 0 0 0 0

11665 1.00 596.1 219.5 10.5 1016 11669 0.15 0.80 0.00 0.000 4 0.079 0.034 2730 1573 442 0 0 0 0 0 0

11755 0.93 596.1 207.7 14.8 1024 11760 0.17 0.77 0.00 0.000 6 0.132 0.030 2675 2098 442 0 0 0 0 0 0

12100 0.98 596.1 163.1 13.4 1079 12107 0.00 0.77 0.00 0.000 4 0.000 0.032 2676 1572 442 0 0 0 0 0 0

12188 1.02 596.1 151.4 12.9 1094 12194 0.00 0.77 0.00 0.000 6 0.000 0.029 2676 2097 442 0 0 0 0 0 0

12537 1.17 617.0 115.0 9.6 1155 12545 0.20 0.82 2.72 0.257 4 0.063 0.036 2774 2630 440 0 0 0 0 0 0

12623 1.08 617.0 104.0 14.3 1169 12631 0.15 0.77 0.08 0.119 6 0.132 0.029 2730 2101 440 0 0 0 0 0 0

12971 1.07 617.0 64.5 11.9 1230 12978 0.00 0.77 0.00 0.000 4 0.000 0.031 2730 2635 440 0 0 0 0 0 0

13014 1.03 617.0 59.1 12.6 1237 13021 0.00 0.77 0.08 0.121 6 0.000 0.029 2731 2099 440 0 0 0 0 0 0

13364 0.99 617.0 19.6 11.1 1298 13372 0.12 0.80 2.38 0.185 4 0.159 0.033 2699 1574 439 0 0 0 0 0 0

13421 1.03 628.6 13.9 9.9 1307 13427 0.00 0.77 0.00 0.000 6 0.000 0.028 2700 2109 440 0 0 0 0 0 0

13521 end climb: SURFACE_DEPTH_REACHED

state 13522 begin surface coast

13553 end surface coast: CONTROL_FINISHED_OK

state 13553 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	752	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	56	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	45	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	-41797.676	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	021111,035407,2143.840,12024.630,37,0.9,37,-2.6	TGT_NAME	W3
_CALLS	1	TGT_LATLONG	1900.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.27	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-59.1	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	021111,040050,2143.938,12024.675,12,1.2,12,-2.6	MHEAD_RNG_PITCHd_Wd	190.7,306672,-14.3,-10.312
SPEED_LIMITS	0.179,0.314	D_GRID	712

FINISH	0.7,1.022188	_10V_AH	9.7,89.588
SM_CCo	13631,0.00,0.000,0,0,440,595.83	FG_AHR_24Vo	0.000
SM_GC	1.37,6.55,0.00,0.00,0.030,0.000,0.000,199,2497,440,-6.70,-0.08,595.83,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2141.13,12027.58,011111,232356	MEM	322728
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	76810,1330
HUMID	49.80	CAP_FILE_SIZE	163605,0
INTERNAL_PRESSURE	9.37536	CFSIZE	260165632,183808000
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	021111,074936,2143.420,12023.702,31,0.9,31,-2.6
_24V_AH	24.2,125.064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	220	106.10	SBE_CT	908	24	527.45
Roll_motor	46	63	71.03	AA4330	0	0	0.00
VBD_pump_during_apogee	630	868	13246.65	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	23	103	57.80	nil	0	0	0.00
Iridium_during_connect	48	160	185.86	TMicro	0	0	0.00
Iridium_during_xfer	168	223	910.77	LAB	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.17
TT8	3177	19	610.19
LPSleep	7163	2	152.18
TT8_Active	651	19	125.09
TT8_Sampling	2608	39	1007.03
TT8_CF8	417	45	185.68
TT8_Kalman	0	0	0.00
Analog_circuits	1937	12	225.58
GPS_charging	0	0	0.00
Compass	2346	15	341.48
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	-0.61	-219.0	0.0	0.0	0	92	0.00	0.00	-73.32	0.000	2	0.000	0.000	139	2485	2493	0	0	0	0	0	0
96	-0.61	-219.0	3.6	-3.3	13	138	8.45	0.77	-28.20	0.000	4	0.220	0.063	2173	1950	3764	0	0	0	0	0	0
231	-0.49	-219.0	29.4	-17.1	36	239	0.12	0.82	0.00	0.000	6	0.131	0.034	2210	2496	3764	0	0	0	0	0	0
579	-0.41	-219.0	82.3	-14.3	97	586	0.12	0.82	0.00	0.000	4	0.150	0.040	2244	3033	3762	0	0	0	0	0	0
709	-0.36	-219.0	97.9	-11.0	119	716	0.00	0.77	0.00	0.000	6	0.000	0.024	2244	2472	3762	0	0	0	0	0	0
1058	-0.49	-219.0	128.2	-11.5	180	1064	0.00	0.62	0.00	0.000	4	0.000	0.024	2244	1975	3763	0	0	0	0	0	0
1321	-0.65	-219.0	152.7	-7.7	226	1328	0.17	0.77	0.00	0.000	6	0.046	0.033	2162	2501	3763	0	0	0	0	0	0
1671	-0.69	-219.0	186.9	-9.2	287	1677	0.00	0.70	0.00	0.000	4	0.000	0.024	2162	1971	3763	0	0	0	0	0	0
1715	-0.71	-219.0	191.3	-9.6	294	1721	0.00	0.77	0.00	0.000	6	0.000	0.034	2158	2498	3763	0	0	0	0	0	0
2047	-0.74	-219.0	222.7	-9.9	333	2048	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2498	3763	0	0	0	0	0	0
2368	-0.79	-219.0	258.1	-11.8	363	2373	0.12	0.73	0.00	0.000	4	0.077	0.026	2083	1975	3763	0	0	0	0	0	0
2396	-0.75	-219.0	262.3	-12.6	365	2403	0.15	0.77	0.00	0.000	6	0.132	0.034	2126	2491	3762	0	0	0	0	0	0
2721	-0.68	-219.0	309.5	-16.3	396	2723	0.10	0.00	0.00	0.000	6	0.168	0.000	2153	2491	3761	0	0	0	0	0	0
3041	-0.72	-219.0	345.9	-8.6	426	3045	0.00	0.80	0.00	0.000	4	0.000	0.039	2152	3025	3759	0	0	0	0	0	0
3125	-0.76	-219.0	351.3	-6.0	433	3132	0.00	0.73	0.00	0.000	6	0.000	0.026	2152	2505	3759	0	0	0	0	0	0
3451	-0.81	-219.0	374.7	-11.1	464	3455	0.12	0.82	0.00	0.000	4	0.080	0.040	2077	3029	3756	0	0	0	0	0	0
3631	-0.68	-219.0	406.6	-18.2	480	3636	0.22	0.75	0.00	0.000	6	0.141	0.027	2147	2498	3754	0	0	0	0	0	0
3963	-0.65	-219.0	446.4	-9.9	511	3967	0.00	0.80	0.00	0.000	4	0.000	0.040	2144	3019	3752	0	0	0	0	0	0
4049	-0.61	-219.0	454.7	-9.8	518	4057	0.08	0.75	0.00	0.000	6	0.120	0.027	2172	2494	3751	0	0	0	0	0	0
4377	-0.70	-219.0	478.4	-7.4	549	4381	0.00	0.80	0.00	0.000	4	0.000	0.041	2170	3017	3749	0	0	0	0	0	0
4440	-0.78	-219.0	483.6	-8.0	554	4448	0.10	0.75	0.00	0.000	6	0.047	0.027	2103	2494	3749	0	0	0	0	0	0
4764	-0.77	-219.0	515.2	-10.2	578	4768	0.00	0.82	0.00	0.000	4	0.000	0.041	2099	3029	3746	0	0	0	0	0	0
4935	-0.68	-219.0	537.2	-14.6	585	4940	0.17	0.75	0.00	0.000	6	0.132	0.027	2154	2504	3744	0	0	0	0	0	0
5259	-0.74	-219.0	570.0	-9.3	601	5263	0.00	0.80	0.00	0.000	4	0.000	0.041	2152	3021	3742	0	0	0	0	0	0
5317	-0.80	-219.0	575.4	-8.8	603	5322	0.08	0.75	0.00	0.000	6	0.056	0.028	2097	2501	3742	0	0	0	0	0	0
5640	-0.80	-219.0	602.8	-7.9	619	5643	0.00	0.73	0.00	0.000	4	0.000	0.028	2097	1962	3739	0	0	0	0	0	0
5718	-0.75	-219.0	609.7	-9.0	622	5723	0.10	0.82	0.00	0.000	6	0.119	0.037	2127	2500	3739	0	0	0	0	0	0
6044	-0.71	-219.0	639.3	-9.7	638	6048	0.00	0.77	0.00	0.000	4	0.000	0.028	2128	1971	3736	0	0	0	0	0	0
6072	-0.67	-219.0	642.9	-10.2	639	6077	0.08	0.80	0.00	0.000	6	0.129	0.039	2151	2489	3736	0	0	0	0	0	0
6403	-0.73	-219.0	675.2	-11.3	655	6407	0.00	0.82	0.00	0.000	4	0.000	0.042	2151	3030	3734	0	0	0	0	0	0
6450	-0.76	-219.0	680.6	-10.8	657	6454	0.00	0.77	0.00	0.000	6	0.000	0.028	2151	2501	3733	0	0	0	0	0	0
6785	-0.83	-219.0	709.1	-8.3	673	6789	0.12	0.85	0.00	0.000	4	0.086	0.043	2083	3028	3732	0	0	0	0	0	0
6815	end dive: TARGET_DEPTH_EXCEEDED
state	6815	begin apogee
6823	-0.19	0.0	712.4	8.5	674	6993	0.73	0.00	163.07	0.868	6	0.127	0.000	2306	2095	2869	0	0	0	0	0	0
6994	end apogee: CONTROL_FINISHED_OK
state	6994	begin climb
6997	0.61	219.0	720.3	0.0	682	7171	0.73	0.82	167.55	0.857	4	0.049	0.034	2590	1572	1976	0	0	0	0	0	0
7423	0.50	219.0	675.9	12.0	701	7427	0.15	0.82	0.00	0.000	6	0.137	0.032	2544	2116	1973	0	0	0	0	0	0
7754	0.58	342.5	647.7	6.4	717	7853	0.00	0.75	93.47	0.817	4	0.000	0.031	2544	2621	1473	0	0	0	0	0	0
7992	0.64	415.7	628.3	8.0	727	8057	0.08	0.77	57.12	0.792	6	0.062	0.030	2591	2093	1174	0	0	0	0	0	0
8366	0.61	415.7	584.8	13.9	745	8370	0.00	0.73	0.00	0.000	4	0.000	0.034	2595	1588	1178	0	0	0	0	0	0
8444	0.57	415.7	572.3	15.5	748	8449	0.10	0.77	0.00	0.000	6	0.122	0.028	2562	2115	1178	0	0	0	0	0	0
8768	0.62	415.7	532.3	11.0	764	8772	0.00	0.77	0.00	0.000	4	0.000	0.032	2563	1585	1177	0	0	0	0	0	0
8830	0.70	448.7	526.3	9.3	766	8862	0.08	0.75	27.17	0.738	6	0.058	0.030	2618	2093	1039	0	0	0	0	0	0
9183	0.77	511.4	492.3	8.3	787	9238	0.00	0.75	48.50	0.724	4	0.000	0.031	2618	2618	784	0	0	0	0	0	0
9330	0.71	511.4	478.4	10.6	800	9334	0.00	0.77	0.00	0.000	6	0.000	0.030	2621	2096	788	0	0	0	0	0	0
9662	0.73	511.4	446.2	10.9	831	9674	0.00	0.80	3.88	0.493	4	0.000	0.034	2625	1572	784	0	0	0	0	0	0
9709	0.73	511.4	440.8	10.8	835	9713	0.00	0.77	0.00	0.000	6	0.000	0.029	2625	2097	785	0	0	0	0	0	0
10040	0.72	511.4	397.9	14.3	866	10042	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2097	786	0	0	0	0	0	0
10361	0.72	511.4	359.2	10.7	896	10364	0.00	0.77	0.00	0.000	4	0.000	0.031	2628	1568	786	0	0	0	0	0	0
10431	0.69	511.4	351.5	11.4	902	10436	0.08	0.77	0.00	0.000	6	0.129	0.028	2601	2100	785	0	0	0	0	0	0
10763	0.88	596.1	322.8	7.6	933	10832	0.17	0.75	64.40	0.627	4	0.069	0.031	2685	2623	440	0	0	0	0	0	0
10934	0.82	596.1	302.1	15.2	948	10938	0.12	0.77	0.00	0.000	6	0.129	0.030	2647	2107	442	0	0	0	0	0	0
11266	0.85	596.1	263.8	11.1	979	11270	0.00	0.77	0.00	0.000	4	0.000	0.035	2650	1574	442	0	0	0	0	0	0
11339	0.92	596.1	255.1	11.5	985	11346	0.00	0.77	0.00	0.000	6	0.000	0.028	2650	2099	442	0	0	0	0	0	0
11665	1.00	596.1	219.5	10.5	1016	11669	0.15	0.80	0.00	0.000	4	0.079	0.034	2730	1573	442	0	0	0	0	0	0
11755	0.93	596.1	207.7	14.8	1024	11760	0.17	0.77	0.00	0.000	6	0.132	0.030	2675	2098	442	0	0	0	0	0	0
12100	0.98	596.1	163.1	13.4	1079	12107	0.00	0.77	0.00	0.000	4	0.000	0.032	2676	1572	442	0	0	0	0	0	0
12188	1.02	596.1	151.4	12.9	1094	12194	0.00	0.77	0.00	0.000	6	0.000	0.029	2676	2097	442	0	0	0	0	0	0
12537	1.17	617.0	115.0	9.6	1155	12545	0.20	0.82	2.72	0.257	4	0.063	0.036	2774	2630	440	0	0	0	0	0	0
12623	1.08	617.0	104.0	14.3	1169	12631	0.15	0.77	0.08	0.119	6	0.132	0.029	2730	2101	440	0	0	0	0	0	0
12971	1.07	617.0	64.5	11.9	1230	12978	0.00	0.77	0.00	0.000	4	0.000	0.031	2730	2635	440	0	0	0	0	0	0
13014	1.03	617.0	59.1	12.6	1237	13021	0.00	0.77	0.08	0.121	6	0.000	0.029	2731	2099	440	0	0	0	0	0	0
13364	0.99	617.0	19.6	11.1	1298	13372	0.12	0.80	2.38	0.185	4	0.159	0.033	2699	1574	439	0	0	0	0	0	0
13421	1.03	628.6	13.9	9.9	1307	13427	0.00	0.77	0.00	0.000	6	0.000	0.028	2700	2109	440	0	0	0	0	0	0
13521	end climb: SURFACE_DEPTH_REACHED
state	13522	begin surface coast
13553	end surface coast: CONTROL_FINISHED_OK
state	13553	begin surface