Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 214 * 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 214 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 45 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 36 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 2 DEVICE3 39

D_ABORT 1030 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 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 300 CAPMAXSIZE 100000 UNCOM_BLEED 50 GPS_DEVICE 32

T_MISSION 340 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 -40788.531 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 -5 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 2320 TCM_PITCH_OFFSET 0 TM_RECORDABOVE 200.0

APOGEE_PITCH -8 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 TM_PROFILE 2.0

MAX_BUOY 225 PITCH_CNV 0.003125763 COMPASS_USE 0 TM_XMITPROFILE 2.0

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 2.0

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 1 PITCH_ADJ_GAIN 0 ALTIM_PING_DEPTH 0 LA_RECORDABOVE 100.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 10 LA_PROFILE 2.0

KALMAN_USE 2 ROLL_MIN 209 ALTIM_FREQUENCY 13 LA_XMITPROFILE 2.0

HD_A 0.003 ROLL_MAX 3785 ALTIM_PULSE 3 LA_UPLOADMAX 10000.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_SENSITIVITY 2 LA_STARTS 12.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2600 XPDR_VALID 2

HEADING -1 C_ROLL_CLIMB 2125 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 2.0

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 2.0

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 2.0

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 300

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 -40788.531

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_DBAND 0.029999999 T_LOITER 0

COMPASS_DEVICE 33 LA_PROFILE 2.0 ROLL_ADJ_GAIN 2 T_MISSION 340

COMPASS_USE 0 LA_RECORDABOVE 100.0 ROLL_AD_RATE 350 T_NO_W 120

COURSE_BIAS 0 LA_STARTS 12.0 ROLL_CNV 0.028270001 T_RSLEEP 2

C_PITCH 2320 LA_UPLOADMAX 10000.0 ROLL_DEG 40 T_TURN 225

C_ROLL_CLIMB 2125 LA_XMITPROFILE 2.0 ROLL_MAX 3785 T_TURN_SAMPINT 5

C_ROLL_DIVE 2600 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 45 USE_BATHY -5

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 36 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 214 MOTHERBOARD 4 SEABIRD_T_H 0.00063541438 VBD_MIN 440

D_ABORT 1030 NAV_MODE 1 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 210711,131307,1840.825,12033.650,39,0.9,40,-2.0 TGT_NAME W4

_CALLS 1 TGT_LATLONG 1834.500,12031.750

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.299,-0.061

_SM_DEPTHo 1.14 KALMAN_X -45911.5,389.4,844.6,41510.1,-5401.7

_SM_ANGLEo -69.5 KALMAN_Y 23776.0,369.6,-164.2,-95083.8,1680.3

GPS2 210711,132020,1840.887,12033.667,11,1.2,11,-2.0 MHEAD_RNG_PITCHd_Wd 197.9,12298,-15.3,-11.000

SPEED_LIMITS 0.191,0.321 D_GRID 579

Post-dive calculations and measurements:

FINISH 0.1,1.007695 _10V_AH 10.0,33.355

SM_CCo 9742,0.00,0.000,0,0,440,595.83 FG_AHR_24Vo 0.000

SM_GC 1.04,6.62,0.00,0.00,0.035,0.000,0.000,211,2622,440,-6.51,0.62,595.83,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1837.32,12030.12,210711,090952 MEM 321788

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 66953,1000

HUMID 41.88 CAP_FILE_SIZE 123777,0

INTERNAL_PRESSURE 9.36559 CFSIZE 260165632,231055360

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

XPDR_PINGS 0 GPS 210711,160425,1839.509,12032.710,41,1.2,41,-2.0

_24V_AH 24.4,34.101

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 226 90.34 SBE_CT 685 24 401.57

Roll_motor 107 58 152.11 AA4330 1086 33 874.95

VBD_pump_during_apogee 604 817 12067.65 WL_BB2F 1401 105 3589.92

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 28 103 72.81 nil 0 0 0.00

Iridium_during_connect 52 160 204.67 TMicro 0 0 0.00

Iridium_during_xfer 208 223 1134.06 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 7.19

TT8 2336 19 462.56

LPSleep 4234 2 92.73

TT8_Active 603 19 119.58

TT8_Sampling 2697 39 1073.61

TT8_CF8 292 45 133.97

TT8_Kalman 0 0 0.00

Analog_circuits 1671 12 200.61

GPS_charging 0 0 0.00

Compass 1695 15 254.28

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 -0.52 -219.0 0.0 0.0 0 82 0.00 0.00 -63.75 0.000 2 0.000 0.000 203 2610 2283 0 0 0 0 0 0

85 -0.52 -219.0 3.4 -4.1 9 131 7.88 1.85 -29.23 0.000 4 0.226 0.058 2139 3770 3759 0 0 0 0 0 0

209 -0.52 -219.0 63.2 -67.9 29 217 0.00 1.80 0.00 0.000 6 0.000 0.025 2139 2568 3759 0 0 0 0 0 0

343 -0.52 -219.0 115.9 -31.7 54 350 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2567 3760 0 0 0 0 0 0

476 -0.52 -219.0 147.1 -18.3 79 484 0.00 1.90 0.00 0.000 4 0.000 0.042 2130 3774 3761 0 0 0 0 0 0

523 -0.52 -219.0 156.4 -20.6 87 531 0.00 1.70 0.00 0.000 6 0.000 0.024 2130 2624 3761 0 0 0 0 0 0

657 -0.52 -219.0 182.6 -21.8 112 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2621 3762 0 0 0 0 0 0

791 -0.52 -219.0 211.5 -21.1 132 795 0.00 2.05 0.00 0.000 4 0.000 0.028 2130 1212 3762 0 0 0 0 0 0

823 -0.52 -219.0 218.1 -19.1 134 831 0.00 2.25 0.00 0.000 6 0.000 0.037 2125 2657 3763 0 0 0 0 0 0

1150 -0.52 -219.0 270.1 -15.6 165 1154 0.00 1.70 0.00 0.000 4 0.000 0.044 2118 3786 3762 0 0 0 0 0 0

1175 -0.52 -219.0 273.8 -14.7 167 1180 0.12 1.65 0.00 0.000 6 0.146 0.026 2151 2650 3762 0 0 0 0 0 0

1506 -0.52 -219.0 314.0 -12.8 198 1510 0.00 2.12 0.00 0.000 4 0.000 0.030 2151 1196 3759 0 0 0 0 0 0

1561 -0.52 -219.0 319.6 -9.3 202 1568 0.00 2.22 0.00 0.000 6 0.000 0.034 2151 2657 3759 0 0 0 0 0 0

1887 -0.52 -219.0 354.0 -11.1 233 1890 0.00 1.70 0.00 0.000 4 0.000 0.046 2151 3780 3755 0 0 0 0 0 0

1933 -0.52 -219.0 358.6 -10.0 237 1937 0.00 1.65 0.00 0.000 6 0.000 0.025 2151 2642 3755 0 0 0 0 0 0

2264 -0.52 -219.0 390.8 -10.6 268 2268 0.00 2.12 0.00 0.000 4 0.000 0.031 2151 1198 3752 0 0 0 0 0 0

2332 -0.52 -219.0 396.8 -8.1 274 2336 0.00 2.22 0.00 0.000 6 0.000 0.036 2151 2660 3751 0 0 0 0 0 0

2658 -0.52 -219.0 429.2 -10.1 304 2662 0.00 2.17 0.00 0.000 4 0.000 0.031 2151 1200 3748 0 0 0 0 0 0

2687 -0.52 -219.0 432.1 -10.4 306 2691 0.00 2.25 0.00 0.000 6 0.000 0.036 2151 2662 3748 0 0 0 0 0 0

3019 -0.52 -219.0 466.3 -10.5 337 3020 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2662 3745 0 0 0 0 0 0

3337 -0.52 -219.0 498.4 -9.7 367 3339 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2663 3742 0 0 0 0 0 0

3646 -0.52 -219.0 525.6 -9.3 383 3650 0.00 2.20 0.00 0.000 4 0.000 0.032 2151 1202 3740 0 0 0 0 0 0

3691 -0.52 -219.0 529.8 -9.4 385 3695 0.00 2.25 0.00 0.000 6 0.000 0.037 2155 2667 3739 0 0 0 0 0 0

4025 -0.52 -219.0 558.2 -8.7 401 4029 0.00 2.20 0.00 0.000 4 0.000 0.032 2151 1200 3736 0 0 0 0 0 0

4066 -0.52 -219.0 561.6 -8.8 403 4070 0.00 2.22 0.00 0.000 6 0.000 0.037 2151 2649 3736 0 0 0 0 0 0

4287 end dive: TARGET_DEPTH_EXCEEDED

state 4287 begin apogee

4293 -0.13 0.0 580.8 8.8 414 4454 0.35 0.00 156.20 0.818 4 0.102 0.000 2274 2122 2871 0 0 0 0 0 0

4455 end apogee: CONTROL_FINISHED_OK

state 4455 begin climb

4457 0.52 219.0 591.8 0.0 421 4630 0.60 2.22 163.68 0.796 4 0.057 0.037 2501 729 1975 0 0 0 0 0 0

4753 0.52 219.0 572.9 11.6 434 4761 0.00 2.25 0.00 0.000 6 0.000 0.032 2501 2131 1974 0 0 0 0 0 0

5070 0.52 219.0 533.6 12.5 450 5074 0.00 2.15 0.00 0.000 4 0.000 0.036 2511 731 1975 0 0 0 0 0 0

5239 0.52 219.0 513.9 11.2 457 5243 0.00 2.15 0.00 0.000 6 0.000 0.034 2511 2130 1971 0 0 0 0 0 0

5564 0.52 219.0 473.9 11.7 481 5568 0.00 2.17 0.00 0.000 4 0.000 0.043 2511 3545 1969 0 0 0 0 0 0

5629 0.52 219.0 464.1 14.1 486 5638 0.08 2.12 0.00 0.000 6 0.149 0.027 2496 2163 1968 0 0 0 0 0 0

5956 0.53 223.8 428.0 10.8 517 5968 0.00 2.25 3.97 0.531 4 0.000 0.037 2506 711 1957 0 0 0 0 0 0

6071 0.53 223.8 415.1 11.2 527 6075 0.00 2.17 0.00 0.000 6 0.000 0.033 2505 2142 1956 0 0 0 0 0 0

6396 0.53 223.8 373.1 13.5 557 6400 0.00 2.17 0.00 0.000 4 0.000 0.035 2515 707 1954 0 0 0 0 0 0

6452 0.53 223.8 365.9 13.0 561 6459 0.00 2.15 0.00 0.000 6 0.000 0.032 2515 2123 1954 0 0 0 0 0 0

6777 0.53 223.8 324.1 12.1 592 6781 0.00 2.15 0.00 0.000 4 0.000 0.043 2515 3536 1954 0 0 0 0 0 0

6820 0.53 223.8 317.8 13.8 595 6828 0.12 2.12 0.00 0.000 6 0.169 0.026 2492 2135 1953 0 0 0 0 0 0

7146 0.58 261.4 282.4 9.7 626 7183 0.00 2.20 27.38 0.650 4 0.000 0.037 2502 725 1804 0 0 0 0 0 0

7230 0.63 305.6 274.6 9.5 633 7268 0.00 2.15 33.05 0.608 6 0.000 0.031 2502 2134 1622 0 0 0 0 0 0

7589 0.66 331.3 240.2 10.1 666 7615 0.00 2.22 20.05 0.606 4 0.000 0.042 2501 3541 1519 0 0 0 0 0 0

7709 0.66 331.3 226.2 12.0 676 7717 0.00 2.17 0.00 0.000 6 0.000 0.027 2510 2140 1519 0 0 0 0 0 0

8036 0.76 411.6 191.9 8.3 715 8102 0.15 2.22 59.17 0.578 4 0.083 0.032 2588 713 1188 0 0 0 0 0 0

8169 0.76 411.6 173.8 13.5 736 8177 0.00 2.25 0.00 0.000 6 0.000 0.031 2588 2135 1188 0 0 0 0 0 0

8304 0.76 411.6 154.3 14.7 761 8313 0.00 2.22 0.00 0.000 4 0.000 0.042 2588 3538 1187 0 0 0 0 0 0

8352 0.76 411.6 146.4 17.2 769 8361 0.10 2.15 0.00 0.000 6 0.147 0.026 2566 2148 1187 0 0 0 0 0 0

8490 0.76 411.6 128.6 11.9 794 8498 0.00 2.20 0.00 0.000 4 0.000 0.039 2566 3538 1187 0 0 0 0 0 0

8532 0.76 411.6 123.6 11.6 801 8540 0.00 2.08 0.00 0.000 6 0.000 0.026 2573 2186 1186 0 0 0 0 0 0

8668 0.81 451.1 109.5 9.7 826 8706 0.00 2.30 28.58 0.542 4 0.000 0.037 2585 716 1030 0 0 0 0 0 0

8756 0.88 504.4 100.9 9.2 840 8800 0.00 2.28 39.30 0.492 6 0.000 0.029 2584 2179 812 0 0 0 0 0 0

8929 1.03 627.9 86.8 6.8 870 9003 0.17 2.22 66.97 0.483 4 0.067 0.041 2670 3541 440 0 0 0 0 0 0

9069 1.06 657.6 71.6 10.0 892 9078 0.00 2.10 2.80 0.261 6 0.000 0.027 2680 2196 439 0 0 0 0 0 0

9208 1.15 724.9 59.7 8.7 917 9217 0.00 2.30 0.00 0.000 4 0.000 0.037 2691 719 439 0 0 0 0 0 0

9297 1.15 724.9 49.7 11.4 933 9305 0.00 2.28 0.45 0.080 6 0.000 0.029 2691 2185 441 0 0 0 0 0 0

9436 1.32 866.3 39.5 6.2 958 9445 0.15 2.10 0.73 0.086 4 0.074 0.037 2760 3536 442 0 0 0 0 0 0

9520 1.32 866.3 26.1 17.0 973 9529 0.00 2.03 2.45 0.200 6 0.000 0.024 2769 2203 440 0 0 0 0 0 0

9648 end climb: SURFACE_DEPTH_REACHED

state 9648 begin surface coast

9666 end surface coast: CONTROL_FINISHED_OK

state 9666 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	214	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	45	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	36	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	2	DEVICE3	39
D_ABORT	1030	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	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	300	CAPMAXSIZE	100000	UNCOM_BLEED	50	GPS_DEVICE	32
T_MISSION	340	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	-40788.531	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	-5	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	2320	TCM_PITCH_OFFSET	0	TM_RECORDABOVE	200.0
APOGEE_PITCH	-8	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	TM_PROFILE	2.0
MAX_BUOY	225	PITCH_CNV	0.003125763	COMPASS_USE	0	TM_XMITPROFILE	2.0
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	2.0
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	1	PITCH_ADJ_GAIN	0	ALTIM_PING_DEPTH	0	LA_RECORDABOVE	100.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	10	LA_PROFILE	2.0
KALMAN_USE	2	ROLL_MIN	209	ALTIM_FREQUENCY	13	LA_XMITPROFILE	2.0
HD_A	0.003	ROLL_MAX	3785	ALTIM_PULSE	3	LA_UPLOADMAX	10000.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_SENSITIVITY	2	LA_STARTS	12.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2600	XPDR_VALID	2
HEADING	-1	C_ROLL_CLIMB	2125	XPDR_INHIBIT	90
ESCAPE_HEADING	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003

GPS1	210711,131307,1840.825,12033.650,39,0.9,40,-2.0	TGT_NAME	W4
_CALLS	1	TGT_LATLONG	1834.500,12031.750
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.299,-0.061
_SM_DEPTHo	1.14	KALMAN_X	-45911.5,389.4,844.6,41510.1,-5401.7
_SM_ANGLEo	-69.5	KALMAN_Y	23776.0,369.6,-164.2,-95083.8,1680.3
GPS2	210711,132020,1840.887,12033.667,11,1.2,11,-2.0	MHEAD_RNG_PITCHd_Wd	197.9,12298,-15.3,-11.000
SPEED_LIMITS	0.191,0.321	D_GRID	579

FINISH	0.1,1.007695	_10V_AH	10.0,33.355
SM_CCo	9742,0.00,0.000,0,0,440,595.83	FG_AHR_24Vo	0.000
SM_GC	1.04,6.62,0.00,0.00,0.035,0.000,0.000,211,2622,440,-6.51,0.62,595.83,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1837.32,12030.12,210711,090952	MEM	321788
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	66953,1000
HUMID	41.88	CAP_FILE_SIZE	123777,0
INTERNAL_PRESSURE	9.36559	CFSIZE	260165632,231055360
TCM_TEMP	25.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	210711,160425,1839.509,12032.710,41,1.2,41,-2.0
_24V_AH	24.4,34.101

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	226	90.34	SBE_CT	685	24	401.57
Roll_motor	107	58	152.11	AA4330	1086	33	874.95
VBD_pump_during_apogee	604	817	12067.65	WL_BB2F	1401	105	3589.92
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	28	103	72.81	nil	0	0	0.00
Iridium_during_connect	52	160	204.67	TMicro	0	0	0.00
Iridium_during_xfer	208	223	1134.06	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	7.19
TT8	2336	19	462.56
LPSleep	4234	2	92.73
TT8_Active	603	19	119.58
TT8_Sampling	2697	39	1073.61
TT8_CF8	292	45	133.97
TT8_Kalman	0	0	0.00
Analog_circuits	1671	12	200.61
GPS_charging	0	0	0.00
Compass	1695	15	254.28
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	-0.52	-219.0	0.0	0.0	0	82	0.00	0.00	-63.75	0.000	2	0.000	0.000	203	2610	2283	0	0	0	0	0	0
85	-0.52	-219.0	3.4	-4.1	9	131	7.88	1.85	-29.23	0.000	4	0.226	0.058	2139	3770	3759	0	0	0	0	0	0
209	-0.52	-219.0	63.2	-67.9	29	217	0.00	1.80	0.00	0.000	6	0.000	0.025	2139	2568	3759	0	0	0	0	0	0
343	-0.52	-219.0	115.9	-31.7	54	350	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2567	3760	0	0	0	0	0	0
476	-0.52	-219.0	147.1	-18.3	79	484	0.00	1.90	0.00	0.000	4	0.000	0.042	2130	3774	3761	0	0	0	0	0	0
523	-0.52	-219.0	156.4	-20.6	87	531	0.00	1.70	0.00	0.000	6	0.000	0.024	2130	2624	3761	0	0	0	0	0	0
657	-0.52	-219.0	182.6	-21.8	112	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2621	3762	0	0	0	0	0	0
791	-0.52	-219.0	211.5	-21.1	132	795	0.00	2.05	0.00	0.000	4	0.000	0.028	2130	1212	3762	0	0	0	0	0	0
823	-0.52	-219.0	218.1	-19.1	134	831	0.00	2.25	0.00	0.000	6	0.000	0.037	2125	2657	3763	0	0	0	0	0	0
1150	-0.52	-219.0	270.1	-15.6	165	1154	0.00	1.70	0.00	0.000	4	0.000	0.044	2118	3786	3762	0	0	0	0	0	0
1175	-0.52	-219.0	273.8	-14.7	167	1180	0.12	1.65	0.00	0.000	6	0.146	0.026	2151	2650	3762	0	0	0	0	0	0
1506	-0.52	-219.0	314.0	-12.8	198	1510	0.00	2.12	0.00	0.000	4	0.000	0.030	2151	1196	3759	0	0	0	0	0	0
1561	-0.52	-219.0	319.6	-9.3	202	1568	0.00	2.22	0.00	0.000	6	0.000	0.034	2151	2657	3759	0	0	0	0	0	0
1887	-0.52	-219.0	354.0	-11.1	233	1890	0.00	1.70	0.00	0.000	4	0.000	0.046	2151	3780	3755	0	0	0	0	0	0
1933	-0.52	-219.0	358.6	-10.0	237	1937	0.00	1.65	0.00	0.000	6	0.000	0.025	2151	2642	3755	0	0	0	0	0	0
2264	-0.52	-219.0	390.8	-10.6	268	2268	0.00	2.12	0.00	0.000	4	0.000	0.031	2151	1198	3752	0	0	0	0	0	0
2332	-0.52	-219.0	396.8	-8.1	274	2336	0.00	2.22	0.00	0.000	6	0.000	0.036	2151	2660	3751	0	0	0	0	0	0
2658	-0.52	-219.0	429.2	-10.1	304	2662	0.00	2.17	0.00	0.000	4	0.000	0.031	2151	1200	3748	0	0	0	0	0	0
2687	-0.52	-219.0	432.1	-10.4	306	2691	0.00	2.25	0.00	0.000	6	0.000	0.036	2151	2662	3748	0	0	0	0	0	0
3019	-0.52	-219.0	466.3	-10.5	337	3020	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2662	3745	0	0	0	0	0	0
3337	-0.52	-219.0	498.4	-9.7	367	3339	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2663	3742	0	0	0	0	0	0
3646	-0.52	-219.0	525.6	-9.3	383	3650	0.00	2.20	0.00	0.000	4	0.000	0.032	2151	1202	3740	0	0	0	0	0	0
3691	-0.52	-219.0	529.8	-9.4	385	3695	0.00	2.25	0.00	0.000	6	0.000	0.037	2155	2667	3739	0	0	0	0	0	0
4025	-0.52	-219.0	558.2	-8.7	401	4029	0.00	2.20	0.00	0.000	4	0.000	0.032	2151	1200	3736	0	0	0	0	0	0
4066	-0.52	-219.0	561.6	-8.8	403	4070	0.00	2.22	0.00	0.000	6	0.000	0.037	2151	2649	3736	0	0	0	0	0	0
4287	end dive: TARGET_DEPTH_EXCEEDED
state	4287	begin apogee
4293	-0.13	0.0	580.8	8.8	414	4454	0.35	0.00	156.20	0.818	4	0.102	0.000	2274	2122	2871	0	0	0	0	0	0
4455	end apogee: CONTROL_FINISHED_OK
state	4455	begin climb
4457	0.52	219.0	591.8	0.0	421	4630	0.60	2.22	163.68	0.796	4	0.057	0.037	2501	729	1975	0	0	0	0	0	0
4753	0.52	219.0	572.9	11.6	434	4761	0.00	2.25	0.00	0.000	6	0.000	0.032	2501	2131	1974	0	0	0	0	0	0
5070	0.52	219.0	533.6	12.5	450	5074	0.00	2.15	0.00	0.000	4	0.000	0.036	2511	731	1975	0	0	0	0	0	0
5239	0.52	219.0	513.9	11.2	457	5243	0.00	2.15	0.00	0.000	6	0.000	0.034	2511	2130	1971	0	0	0	0	0	0
5564	0.52	219.0	473.9	11.7	481	5568	0.00	2.17	0.00	0.000	4	0.000	0.043	2511	3545	1969	0	0	0	0	0	0
5629	0.52	219.0	464.1	14.1	486	5638	0.08	2.12	0.00	0.000	6	0.149	0.027	2496	2163	1968	0	0	0	0	0	0
5956	0.53	223.8	428.0	10.8	517	5968	0.00	2.25	3.97	0.531	4	0.000	0.037	2506	711	1957	0	0	0	0	0	0
6071	0.53	223.8	415.1	11.2	527	6075	0.00	2.17	0.00	0.000	6	0.000	0.033	2505	2142	1956	0	0	0	0	0	0
6396	0.53	223.8	373.1	13.5	557	6400	0.00	2.17	0.00	0.000	4	0.000	0.035	2515	707	1954	0	0	0	0	0	0
6452	0.53	223.8	365.9	13.0	561	6459	0.00	2.15	0.00	0.000	6	0.000	0.032	2515	2123	1954	0	0	0	0	0	0
6777	0.53	223.8	324.1	12.1	592	6781	0.00	2.15	0.00	0.000	4	0.000	0.043	2515	3536	1954	0	0	0	0	0	0
6820	0.53	223.8	317.8	13.8	595	6828	0.12	2.12	0.00	0.000	6	0.169	0.026	2492	2135	1953	0	0	0	0	0	0
7146	0.58	261.4	282.4	9.7	626	7183	0.00	2.20	27.38	0.650	4	0.000	0.037	2502	725	1804	0	0	0	0	0	0
7230	0.63	305.6	274.6	9.5	633	7268	0.00	2.15	33.05	0.608	6	0.000	0.031	2502	2134	1622	0	0	0	0	0	0
7589	0.66	331.3	240.2	10.1	666	7615	0.00	2.22	20.05	0.606	4	0.000	0.042	2501	3541	1519	0	0	0	0	0	0
7709	0.66	331.3	226.2	12.0	676	7717	0.00	2.17	0.00	0.000	6	0.000	0.027	2510	2140	1519	0	0	0	0	0	0
8036	0.76	411.6	191.9	8.3	715	8102	0.15	2.22	59.17	0.578	4	0.083	0.032	2588	713	1188	0	0	0	0	0	0
8169	0.76	411.6	173.8	13.5	736	8177	0.00	2.25	0.00	0.000	6	0.000	0.031	2588	2135	1188	0	0	0	0	0	0
8304	0.76	411.6	154.3	14.7	761	8313	0.00	2.22	0.00	0.000	4	0.000	0.042	2588	3538	1187	0	0	0	0	0	0
8352	0.76	411.6	146.4	17.2	769	8361	0.10	2.15	0.00	0.000	6	0.147	0.026	2566	2148	1187	0	0	0	0	0	0
8490	0.76	411.6	128.6	11.9	794	8498	0.00	2.20	0.00	0.000	4	0.000	0.039	2566	3538	1187	0	0	0	0	0	0
8532	0.76	411.6	123.6	11.6	801	8540	0.00	2.08	0.00	0.000	6	0.000	0.026	2573	2186	1186	0	0	0	0	0	0
8668	0.81	451.1	109.5	9.7	826	8706	0.00	2.30	28.58	0.542	4	0.000	0.037	2585	716	1030	0	0	0	0	0	0
8756	0.88	504.4	100.9	9.2	840	8800	0.00	2.28	39.30	0.492	6	0.000	0.029	2584	2179	812	0	0	0	0	0	0
8929	1.03	627.9	86.8	6.8	870	9003	0.17	2.22	66.97	0.483	4	0.067	0.041	2670	3541	440	0	0	0	0	0	0
9069	1.06	657.6	71.6	10.0	892	9078	0.00	2.10	2.80	0.261	6	0.000	0.027	2680	2196	439	0	0	0	0	0	0
9208	1.15	724.9	59.7	8.7	917	9217	0.00	2.30	0.00	0.000	4	0.000	0.037	2691	719	439	0	0	0	0	0	0
9297	1.15	724.9	49.7	11.4	933	9305	0.00	2.28	0.45	0.080	6	0.000	0.029	2691	2185	441	0	0	0	0	0	0
9436	1.32	866.3	39.5	6.2	958	9445	0.15	2.10	0.73	0.086	4	0.074	0.037	2760	3536	442	0	0	0	0	0	0
9520	1.32	866.3	26.1	17.0	973	9529	0.00	2.03	2.45	0.200	6	0.000	0.024	2769	2203	440	0	0	0	0	0	0
9648	end climb: SURFACE_DEPTH_REACHED
state	9648	begin surface coast
9666	end surface coast: CONTROL_FINISHED_OK
state	9666	begin surface