Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 760 * 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 760 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 55 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 64 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 -41807.73 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 -41807.73

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 64 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 760 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 031111,123254,2141.776,12022.356,25,0.9,43,-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 1.31 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -67.2 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 031111,123908,2141.746,12022.430,11,1.1,11,-2.6 MHEAD_RNG_PITCHd_Wd 190.1,302117,-14.3,-10.312

SPEED_LIMITS 0.179,0.314 D_GRID 684

Post-dive calculations and measurements:

FINISH 0.6,1.022053 _10V_AH 9.7,90.261

SM_CCo 13197,0.00,0.000,0,0,441,595.34 FG_AHR_24Vo 0.000

SM_GC 1.23,6.55,0.00,0.00,0.026,0.000,0.000,203,2491,441,-6.69,-0.25,595.34,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2131.85,12020.06,031111,080848 MEM 322724

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 73616,1294

HUMID 51.61 CAP_FILE_SIZE 158774,0

INTERNAL_PRESSURE 9.35583 CFSIZE 260165632,183152640

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

XPDR_PINGS 0 GPS 031111,162037,2141.764,12022.838,28,1.0,29,-2.6

_24V_AH 24.2,126.295

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 220 103.44 SBE_CT 883 24 513.01

Roll_motor 46 61 69.28 AA4330 0 0 0.00

VBD_pump_during_apogee 631 852 13039.03 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 76.29 nil 0 0 0.00

Iridium_during_connect 38 160 150.43 TMicro 0 0 0.00

Iridium_during_xfer 147 223 795.63 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 7.05

TT8 3069 19 589.57

LPSleep 6917 2 146.95

TT8_Active 682 19 131.01

TT8_Sampling 2499 39 964.82

TT8_CF8 390 45 173.55

TT8_Kalman 0 0 0.00

Analog_circuits 1924 12 224.02

GPS_charging 0 0 0.00

Compass 2255 15 328.22

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 -0.61 -219.0 0.0 0.0 0 93 0.00 0.00 -73.57 0.000 2 0.000 0.000 181 2527 2497 0 0 0 0 0 0

97 -0.61 -219.0 3.4 -3.2 13 139 8.23 0.85 -28.75 0.000 4 0.220 0.059 2169 1919 3763 0 0 0 0 0 0

221 -0.48 -219.0 30.7 -21.9 34 228 0.15 0.82 0.00 0.000 6 0.138 0.033 2213 2480 3764 0 0 0 0 0 0

569 -0.41 -219.0 89.2 -12.4 95 576 0.00 0.73 0.00 0.000 4 0.000 0.023 2213 1935 3762 0 0 0 0 0 0

673 -0.43 -219.0 101.0 -10.8 113 680 0.00 0.82 0.00 0.000 6 0.000 0.031 2211 2494 3762 0 0 0 0 0 0

1019 -0.43 -219.0 139.4 -11.1 174 1026 0.00 0.77 0.00 0.000 4 0.000 0.037 2207 3022 3762 0 0 0 0 0 0

1068 -0.38 -219.0 145.8 -13.6 182 1075 0.12 0.77 0.00 0.000 6 0.112 0.024 2250 2459 3762 0 0 0 0 0 0

1417 -0.52 -219.0 175.3 -9.3 243 1425 0.12 0.65 0.00 0.000 4 0.083 0.028 2196 1967 3763 0 0 0 0 0 0

1680 -0.65 -219.0 199.8 -9.0 289 1687 0.00 0.77 0.00 0.000 6 0.000 0.031 2196 2497 3763 0 0 0 0 0 0

2007 -0.73 -219.0 227.1 -7.9 320 2011 0.17 0.73 0.00 0.000 4 0.060 0.026 2096 1968 3763 0 0 0 0 0 0

2056 -0.63 -219.0 233.1 -12.8 324 2064 0.22 0.77 0.00 0.000 6 0.124 0.035 2164 2486 3763 0 0 0 0 0 0

2382 -0.65 -219.0 271.5 -11.1 355 2386 0.00 0.68 0.00 0.000 4 0.000 0.025 2164 1973 3762 0 0 0 0 0 0

2479 -0.68 -219.0 281.5 -10.0 363 2486 0.00 0.80 0.00 0.000 6 0.000 0.034 2164 2507 3762 0 0 0 0 0 0

2806 -0.74 -219.0 312.1 -9.3 394 2809 0.00 0.70 0.00 0.000 4 0.000 0.024 2164 1985 3761 0 0 0 0 0 0

2858 -0.76 -219.0 317.1 -9.5 398 2865 0.08 0.77 0.00 0.000 6 0.054 0.036 2106 2500 3761 0 0 0 0 0 0

3183 -0.74 -219.0 352.2 -10.9 429 3187 0.00 0.73 0.00 0.000 4 0.000 0.028 2106 1981 3758 0 0 0 0 0 0

3242 -0.68 -219.0 358.9 -11.9 434 3247 0.15 0.77 0.00 0.000 6 0.122 0.034 2150 2499 3757 0 0 0 0 0 0

3574 -0.72 -219.0 393.3 -10.1 465 3577 0.00 0.77 0.00 0.000 4 0.000 0.041 2150 3018 3756 0 0 0 0 0 0

3692 -0.72 -219.0 404.8 -9.6 475 3699 0.00 0.73 0.00 0.000 6 0.000 0.026 2150 2502 3755 0 0 0 0 0 0

4018 -0.76 -219.0 430.3 -7.4 506 4022 0.00 0.70 0.00 0.000 4 0.000 0.028 2150 1974 3752 0 0 0 0 0 0

4100 -0.79 -219.0 437.0 -8.6 513 4104 0.00 0.80 0.00 0.000 6 0.000 0.036 2150 2502 3752 0 0 0 0 0 0

4433 -0.82 -219.0 465.5 -8.9 544 4440 0.12 0.00 0.00 0.000 6 0.080 0.000 2083 2502 3749 0 0 0 0 0 0

4770 -0.71 -219.0 513.7 -15.3 572 4774 0.22 0.80 0.00 0.000 4 0.139 0.036 2145 3021 3747 0 0 0 0 0 0

4833 -0.67 -219.0 521.6 -11.4 574 4840 0.00 0.73 0.00 0.000 6 0.000 0.027 2144 2501 3746 0 0 0 0 0 0

5152 -0.69 -219.0 549.9 -7.6 590 5156 0.00 0.73 0.00 0.000 4 0.000 0.028 2144 1976 3743 0 0 0 0 0 0

5267 -0.70 -219.0 558.6 -7.8 595 5270 0.00 0.80 0.00 0.000 6 0.000 0.037 2141 2500 3743 0 0 0 0 0 0

5602 -0.67 -219.0 586.9 -9.8 611 5605 0.00 0.75 0.00 0.000 4 0.000 0.029 2141 1978 3740 0 0 0 0 0 0

5720 -0.65 -219.0 596.8 -8.6 616 5724 0.00 0.80 0.00 0.000 6 0.000 0.037 2138 2500 3740 0 0 0 0 0 0

6049 -0.61 -219.0 631.0 -11.4 632 6054 0.15 0.82 0.00 0.000 4 0.146 0.042 2179 3024 3737 0 0 0 0 0 0

6192 -0.69 -219.0 645.5 -10.2 638 6196 0.00 0.73 0.00 0.000 6 0.000 0.027 2179 2518 3736 0 0 0 0 0 0

6520 -0.81 -219.0 676.6 -9.0 654 6525 0.20 0.75 0.00 0.000 4 0.069 0.024 2090 1974 3734 0 0 0 0 0 0

6581 end dive: TARGET_DEPTH_EXCEEDED

state 6581 begin apogee

6589 -0.19 0.0 684.1 12.8 656 6756 0.73 0.00 162.30 0.853 6 0.132 0.000 2309 2115 2868 0 0 0 0 0 0

6757 end apogee: CONTROL_FINISHED_OK

state 6757 begin climb

6760 0.61 219.0 697.1 0.0 664 6933 0.70 0.77 166.30 0.842 4 0.042 0.028 2593 1592 1977 0 0 0 0 0 0

7047 0.50 219.0 677.3 13.2 677 7051 0.17 0.77 0.00 0.000 6 0.135 0.031 2539 2095 1976 0 0 0 0 0 0

7374 0.45 219.0 641.8 10.4 693 7378 0.00 0.77 0.00 0.000 4 0.000 0.037 2539 2621 1974 0 0 0 0 0 0

7391 0.39 222.7 640.0 10.2 693 7399 0.10 0.75 4.65 0.623 6 0.129 0.030 2507 2111 1961 0 0 0 0 0 0

7710 0.56 355.1 617.7 6.1 709 7817 0.15 0.82 100.38 0.803 4 0.079 0.035 2578 1574 1420 0 0 0 0 0 0

7838 0.60 416.1 607.2 8.4 715 7890 0.00 0.80 47.67 0.773 6 0.000 0.031 2578 2097 1172 0 0 0 0 0 0

8207 0.68 458.0 569.7 9.0 733 8250 0.00 0.82 34.42 0.760 4 0.000 0.033 2581 1574 1001 0 0 0 0 0 0

8270 0.74 489.2 563.7 9.3 735 8300 0.00 0.80 25.95 0.729 6 0.000 0.029 2581 2107 873 0 0 0 0 0 0

8629 0.89 549.0 532.6 8.4 753 8683 0.22 0.85 48.60 0.744 4 0.063 0.031 2688 1567 630 0 0 0 0 0 0

8774 0.82 549.0 512.7 15.5 759 8782 0.15 0.80 0.00 0.000 6 0.122 0.031 2640 2095 630 0 0 0 0 0 0

9098 0.86 549.0 470.0 12.9 785 9101 0.00 0.77 0.00 0.000 4 0.000 0.036 2639 2625 629 0 0 0 0 0 0

9171 0.81 549.0 459.9 14.4 791 9177 0.00 0.77 0.00 0.000 6 0.000 0.030 2641 2096 629 0 0 0 0 0 0

9498 0.83 549.0 419.9 11.6 822 9501 0.00 0.75 0.00 0.000 4 0.000 0.033 2645 1573 629 0 0 0 0 0 0

9525 0.83 549.0 416.1 12.4 824 9532 0.00 0.77 0.00 0.000 6 0.000 0.028 2645 2102 628 0 0 0 0 0 0

9851 0.86 549.0 379.5 11.8 855 9855 0.00 0.75 0.00 0.000 4 0.000 0.035 2645 2620 628 0 0 0 0 0 0

9925 0.79 549.0 369.6 14.5 861 9931 0.00 0.77 0.00 0.000 6 0.000 0.031 2648 2098 628 0 0 0 0 0 0

10251 0.76 549.0 328.5 12.2 892 10254 0.00 0.77 0.00 0.000 4 0.000 0.034 2648 2619 628 0 0 0 0 0 0

10313 0.72 549.0 320.0 14.4 897 10320 0.12 0.77 0.00 0.000 6 0.131 0.029 2610 2093 627 0 0 0 0 0 0

10641 0.85 551.6 286.1 10.2 928 10645 0.12 0.77 0.00 0.000 4 0.093 0.034 2664 1572 628 0 0 0 0 0 0

10870 0.90 551.6 260.7 11.1 948 10878 0.00 0.77 3.50 0.402 6 0.000 0.028 2664 2098 620 0 0 0 0 0 0

11196 0.92 551.6 226.0 10.6 979 11200 0.00 0.77 0.00 0.000 4 0.000 0.032 2666 1572 620 0 0 0 0 0 0

11246 0.95 551.6 220.4 10.9 983 11253 0.00 0.77 0.00 0.000 6 0.000 0.028 2666 2099 620 0 0 0 0 0 0

11582 0.99 551.6 179.9 10.8 1028 11588 0.00 0.77 0.00 0.000 4 0.000 0.032 2669 1572 621 0 0 0 0 0 0

11729 1.05 588.7 166.2 9.1 1053 11765 0.10 0.77 29.12 0.531 6 0.050 0.028 2734 2097 467 0 0 0 0 0 0

12105 1.04 588.7 118.5 13.4 1119 12112 0.00 0.75 0.00 0.000 4 0.000 0.034 2734 2615 471 0 0 0 0 0 0

12165 0.97 588.7 109.6 15.8 1129 12172 0.15 0.75 0.00 0.000 6 0.133 0.030 2689 2107 472 0 0 0 0 0 0

12514 1.05 604.6 71.2 9.8 1190 12527 0.00 0.82 7.85 0.451 4 0.000 0.034 2689 1568 439 0 0 0 0 0 0

12575 1.11 620.7 65.1 9.8 1200 12583 0.10 0.77 0.00 0.000 6 0.045 0.028 2751 2101 439 0 0 0 0 0 0

12925 1.13 620.7 22.3 10.6 1261 12932 0.00 0.77 0.00 0.000 4 0.000 0.031 2754 1570 440 0 0 0 0 0 0

13070 1.08 620.7 6.4 12.2 1286 13078 0.08 0.77 0.93 0.073 6 0.126 0.028 2728 2108 441 0 0 0 0 0 0

13095 end climb: SURFACE_DEPTH_REACHED

state 13095 begin surface coast

13118 end surface coast: CONTROL_FINISHED_OK

state 13118 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	760	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	55	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	64	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	-41807.73	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	031111,123254,2141.776,12022.356,25,0.9,43,-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	1.31	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-67.2	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	031111,123908,2141.746,12022.430,11,1.1,11,-2.6	MHEAD_RNG_PITCHd_Wd	190.1,302117,-14.3,-10.312
SPEED_LIMITS	0.179,0.314	D_GRID	684

FINISH	0.6,1.022053	_10V_AH	9.7,90.261
SM_CCo	13197,0.00,0.000,0,0,441,595.34	FG_AHR_24Vo	0.000
SM_GC	1.23,6.55,0.00,0.00,0.026,0.000,0.000,203,2491,441,-6.69,-0.25,595.34,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2131.85,12020.06,031111,080848	MEM	322724
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	73616,1294
HUMID	51.61	CAP_FILE_SIZE	158774,0
INTERNAL_PRESSURE	9.35583	CFSIZE	260165632,183152640
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	031111,162037,2141.764,12022.838,28,1.0,29,-2.6
_24V_AH	24.2,126.295

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	220	103.44	SBE_CT	883	24	513.01
Roll_motor	46	61	69.28	AA4330	0	0	0.00
VBD_pump_during_apogee	631	852	13039.03	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	76.29	nil	0	0	0.00
Iridium_during_connect	38	160	150.43	TMicro	0	0	0.00
Iridium_during_xfer	147	223	795.63	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	7.05
TT8	3069	19	589.57
LPSleep	6917	2	146.95
TT8_Active	682	19	131.01
TT8_Sampling	2499	39	964.82
TT8_CF8	390	45	173.55
TT8_Kalman	0	0	0.00
Analog_circuits	1924	12	224.02
GPS_charging	0	0	0.00
Compass	2255	15	328.22
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	-0.61	-219.0	0.0	0.0	0	93	0.00	0.00	-73.57	0.000	2	0.000	0.000	181	2527	2497	0	0	0	0	0	0
97	-0.61	-219.0	3.4	-3.2	13	139	8.23	0.85	-28.75	0.000	4	0.220	0.059	2169	1919	3763	0	0	0	0	0	0
221	-0.48	-219.0	30.7	-21.9	34	228	0.15	0.82	0.00	0.000	6	0.138	0.033	2213	2480	3764	0	0	0	0	0	0
569	-0.41	-219.0	89.2	-12.4	95	576	0.00	0.73	0.00	0.000	4	0.000	0.023	2213	1935	3762	0	0	0	0	0	0
673	-0.43	-219.0	101.0	-10.8	113	680	0.00	0.82	0.00	0.000	6	0.000	0.031	2211	2494	3762	0	0	0	0	0	0
1019	-0.43	-219.0	139.4	-11.1	174	1026	0.00	0.77	0.00	0.000	4	0.000	0.037	2207	3022	3762	0	0	0	0	0	0
1068	-0.38	-219.0	145.8	-13.6	182	1075	0.12	0.77	0.00	0.000	6	0.112	0.024	2250	2459	3762	0	0	0	0	0	0
1417	-0.52	-219.0	175.3	-9.3	243	1425	0.12	0.65	0.00	0.000	4	0.083	0.028	2196	1967	3763	0	0	0	0	0	0
1680	-0.65	-219.0	199.8	-9.0	289	1687	0.00	0.77	0.00	0.000	6	0.000	0.031	2196	2497	3763	0	0	0	0	0	0
2007	-0.73	-219.0	227.1	-7.9	320	2011	0.17	0.73	0.00	0.000	4	0.060	0.026	2096	1968	3763	0	0	0	0	0	0
2056	-0.63	-219.0	233.1	-12.8	324	2064	0.22	0.77	0.00	0.000	6	0.124	0.035	2164	2486	3763	0	0	0	0	0	0
2382	-0.65	-219.0	271.5	-11.1	355	2386	0.00	0.68	0.00	0.000	4	0.000	0.025	2164	1973	3762	0	0	0	0	0	0
2479	-0.68	-219.0	281.5	-10.0	363	2486	0.00	0.80	0.00	0.000	6	0.000	0.034	2164	2507	3762	0	0	0	0	0	0
2806	-0.74	-219.0	312.1	-9.3	394	2809	0.00	0.70	0.00	0.000	4	0.000	0.024	2164	1985	3761	0	0	0	0	0	0
2858	-0.76	-219.0	317.1	-9.5	398	2865	0.08	0.77	0.00	0.000	6	0.054	0.036	2106	2500	3761	0	0	0	0	0	0
3183	-0.74	-219.0	352.2	-10.9	429	3187	0.00	0.73	0.00	0.000	4	0.000	0.028	2106	1981	3758	0	0	0	0	0	0
3242	-0.68	-219.0	358.9	-11.9	434	3247	0.15	0.77	0.00	0.000	6	0.122	0.034	2150	2499	3757	0	0	0	0	0	0
3574	-0.72	-219.0	393.3	-10.1	465	3577	0.00	0.77	0.00	0.000	4	0.000	0.041	2150	3018	3756	0	0	0	0	0	0
3692	-0.72	-219.0	404.8	-9.6	475	3699	0.00	0.73	0.00	0.000	6	0.000	0.026	2150	2502	3755	0	0	0	0	0	0
4018	-0.76	-219.0	430.3	-7.4	506	4022	0.00	0.70	0.00	0.000	4	0.000	0.028	2150	1974	3752	0	0	0	0	0	0
4100	-0.79	-219.0	437.0	-8.6	513	4104	0.00	0.80	0.00	0.000	6	0.000	0.036	2150	2502	3752	0	0	0	0	0	0
4433	-0.82	-219.0	465.5	-8.9	544	4440	0.12	0.00	0.00	0.000	6	0.080	0.000	2083	2502	3749	0	0	0	0	0	0
4770	-0.71	-219.0	513.7	-15.3	572	4774	0.22	0.80	0.00	0.000	4	0.139	0.036	2145	3021	3747	0	0	0	0	0	0
4833	-0.67	-219.0	521.6	-11.4	574	4840	0.00	0.73	0.00	0.000	6	0.000	0.027	2144	2501	3746	0	0	0	0	0	0
5152	-0.69	-219.0	549.9	-7.6	590	5156	0.00	0.73	0.00	0.000	4	0.000	0.028	2144	1976	3743	0	0	0	0	0	0
5267	-0.70	-219.0	558.6	-7.8	595	5270	0.00	0.80	0.00	0.000	6	0.000	0.037	2141	2500	3743	0	0	0	0	0	0
5602	-0.67	-219.0	586.9	-9.8	611	5605	0.00	0.75	0.00	0.000	4	0.000	0.029	2141	1978	3740	0	0	0	0	0	0
5720	-0.65	-219.0	596.8	-8.6	616	5724	0.00	0.80	0.00	0.000	6	0.000	0.037	2138	2500	3740	0	0	0	0	0	0
6049	-0.61	-219.0	631.0	-11.4	632	6054	0.15	0.82	0.00	0.000	4	0.146	0.042	2179	3024	3737	0	0	0	0	0	0
6192	-0.69	-219.0	645.5	-10.2	638	6196	0.00	0.73	0.00	0.000	6	0.000	0.027	2179	2518	3736	0	0	0	0	0	0
6520	-0.81	-219.0	676.6	-9.0	654	6525	0.20	0.75	0.00	0.000	4	0.069	0.024	2090	1974	3734	0	0	0	0	0	0
6581	end dive: TARGET_DEPTH_EXCEEDED
state	6581	begin apogee
6589	-0.19	0.0	684.1	12.8	656	6756	0.73	0.00	162.30	0.853	6	0.132	0.000	2309	2115	2868	0	0	0	0	0	0
6757	end apogee: CONTROL_FINISHED_OK
state	6757	begin climb
6760	0.61	219.0	697.1	0.0	664	6933	0.70	0.77	166.30	0.842	4	0.042	0.028	2593	1592	1977	0	0	0	0	0	0
7047	0.50	219.0	677.3	13.2	677	7051	0.17	0.77	0.00	0.000	6	0.135	0.031	2539	2095	1976	0	0	0	0	0	0
7374	0.45	219.0	641.8	10.4	693	7378	0.00	0.77	0.00	0.000	4	0.000	0.037	2539	2621	1974	0	0	0	0	0	0
7391	0.39	222.7	640.0	10.2	693	7399	0.10	0.75	4.65	0.623	6	0.129	0.030	2507	2111	1961	0	0	0	0	0	0
7710	0.56	355.1	617.7	6.1	709	7817	0.15	0.82	100.38	0.803	4	0.079	0.035	2578	1574	1420	0	0	0	0	0	0
7838	0.60	416.1	607.2	8.4	715	7890	0.00	0.80	47.67	0.773	6	0.000	0.031	2578	2097	1172	0	0	0	0	0	0
8207	0.68	458.0	569.7	9.0	733	8250	0.00	0.82	34.42	0.760	4	0.000	0.033	2581	1574	1001	0	0	0	0	0	0
8270	0.74	489.2	563.7	9.3	735	8300	0.00	0.80	25.95	0.729	6	0.000	0.029	2581	2107	873	0	0	0	0	0	0
8629	0.89	549.0	532.6	8.4	753	8683	0.22	0.85	48.60	0.744	4	0.063	0.031	2688	1567	630	0	0	0	0	0	0
8774	0.82	549.0	512.7	15.5	759	8782	0.15	0.80	0.00	0.000	6	0.122	0.031	2640	2095	630	0	0	0	0	0	0
9098	0.86	549.0	470.0	12.9	785	9101	0.00	0.77	0.00	0.000	4	0.000	0.036	2639	2625	629	0	0	0	0	0	0
9171	0.81	549.0	459.9	14.4	791	9177	0.00	0.77	0.00	0.000	6	0.000	0.030	2641	2096	629	0	0	0	0	0	0
9498	0.83	549.0	419.9	11.6	822	9501	0.00	0.75	0.00	0.000	4	0.000	0.033	2645	1573	629	0	0	0	0	0	0
9525	0.83	549.0	416.1	12.4	824	9532	0.00	0.77	0.00	0.000	6	0.000	0.028	2645	2102	628	0	0	0	0	0	0
9851	0.86	549.0	379.5	11.8	855	9855	0.00	0.75	0.00	0.000	4	0.000	0.035	2645	2620	628	0	0	0	0	0	0
9925	0.79	549.0	369.6	14.5	861	9931	0.00	0.77	0.00	0.000	6	0.000	0.031	2648	2098	628	0	0	0	0	0	0
10251	0.76	549.0	328.5	12.2	892	10254	0.00	0.77	0.00	0.000	4	0.000	0.034	2648	2619	628	0	0	0	0	0	0
10313	0.72	549.0	320.0	14.4	897	10320	0.12	0.77	0.00	0.000	6	0.131	0.029	2610	2093	627	0	0	0	0	0	0
10641	0.85	551.6	286.1	10.2	928	10645	0.12	0.77	0.00	0.000	4	0.093	0.034	2664	1572	628	0	0	0	0	0	0
10870	0.90	551.6	260.7	11.1	948	10878	0.00	0.77	3.50	0.402	6	0.000	0.028	2664	2098	620	0	0	0	0	0	0
11196	0.92	551.6	226.0	10.6	979	11200	0.00	0.77	0.00	0.000	4	0.000	0.032	2666	1572	620	0	0	0	0	0	0
11246	0.95	551.6	220.4	10.9	983	11253	0.00	0.77	0.00	0.000	6	0.000	0.028	2666	2099	620	0	0	0	0	0	0
11582	0.99	551.6	179.9	10.8	1028	11588	0.00	0.77	0.00	0.000	4	0.000	0.032	2669	1572	621	0	0	0	0	0	0
11729	1.05	588.7	166.2	9.1	1053	11765	0.10	0.77	29.12	0.531	6	0.050	0.028	2734	2097	467	0	0	0	0	0	0
12105	1.04	588.7	118.5	13.4	1119	12112	0.00	0.75	0.00	0.000	4	0.000	0.034	2734	2615	471	0	0	0	0	0	0
12165	0.97	588.7	109.6	15.8	1129	12172	0.15	0.75	0.00	0.000	6	0.133	0.030	2689	2107	472	0	0	0	0	0	0
12514	1.05	604.6	71.2	9.8	1190	12527	0.00	0.82	7.85	0.451	4	0.000	0.034	2689	1568	439	0	0	0	0	0	0
12575	1.11	620.7	65.1	9.8	1200	12583	0.10	0.77	0.00	0.000	6	0.045	0.028	2751	2101	439	0	0	0	0	0	0
12925	1.13	620.7	22.3	10.6	1261	12932	0.00	0.77	0.00	0.000	4	0.000	0.031	2754	1570	440	0	0	0	0	0	0
13070	1.08	620.7	6.4	12.2	1286	13078	0.08	0.77	0.93	0.073	6	0.126	0.028	2728	2108	441	0	0	0	0	0	0
13095	end climb: SURFACE_DEPTH_REACHED
state	13095	begin surface coast
13118	end surface coast: CONTROL_FINISHED_OK
state	13118	begin surface