Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 677 * 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 677 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 58 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 34 MOTHERBOARD 4

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 DEVICE1 2

D_FLARE 3 SM_CC 475 ROLL_MAXERRORS 1 DEVICE2 102

D_TGT 990 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEVICE3 39

D_ABORT 1030 FILEMGR 0 ROLL_ADJ_DBAND 0 DEVICE4 -1

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MIN 440 DEVICE5 -1

D_BOOST 3 COMM_SEQ 0 VBD_MAX 3960 DEVICE6 -1

T_BOOST 0 PROTOCOL 9 C_VBD 2869 LOGGERS 0

D_FINISH 0 N_NOCOMM 1 VBD_DBAND 2 LOGGERDEVICE1 99

D_PITCH 0 NOCOMM_ACTION 0 VBD_CNV -0.24529999 LOGGERDEVICE2 117

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 LOGGERDEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 COMPASS_DEVICE 33

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 49

T_DIVE 320 CAPMAXSIZE 100000 UNCOM_BLEED 50 GPS_DEVICE 32

T_MISSION 350 HEAPDBG 0 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_ABORT 1440 T_GPS 15 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_TURN 225 N_GPS 20 AH0_24V 150 SIM_W 0

T_TURN_SAMPINT 5 T_GPS_ALMANAC 0 AH0_10V 110 SIM_PITCH 0

T_NO_W 120 T_GPS_CHARGE -41445.758 MINV_24V 19 SEABIRD_T_G 0.0043841996

T_LOITER 0 T_RSLEEP 2 MINV_10V 8 SEABIRD_T_H 0.00063541438

T_EPIRB 0 STROBE 0 FG_AHR_10V 0 SEABIRD_T_I 2.4687597e-05

USE_BATHY -8 RAFOS_PEAK_OFFSET 1.5 FG_AHR_24V 0 SEABIRD_T_J 2.6519353e-06

USE_ICE 0 RAFOS_CORR_THRESH 60 PHONE_SUPPLY 2 SEABIRD_C_G -9.9512653

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 PRESSURE_YINT -61.82621 SEABIRD_C_H 1.1266108

D_OFFGRID 1000 PITCH_MIN 225 PRESSURE_SLOPE 0.000116609 SEABIRD_C_I -0.0016982662

T_WATCHDOG 10 PITCH_MAX 3941 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020129427

RELAUNCH 1 C_PITCH 2300 TCM_PITCH_OFFSET 0 TM_RECORDABOVE 200.0

APOGEE_PITCH -8 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 TM_PROFILE 1.0

MAX_BUOY 175 PITCH_CNV 0.003125763 COMPASS_USE 0 TM_XMITPROFILE 1.0

COURSE_BIAS 0 P_OVSHOOT 0.039999999 ALTIM_BOTTOM_PING_RANGE 0 TM_UPLOADMAX 0.0

GLIDE_SLOPE 30 PITCH_GAIN 60 ALTIM_TOP_PING_RANGE 0 TM_STARTS 41.0

SPEED_FACTOR 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_TURN_MARGIN 0 TM_NFFT 256.0

RHO 1.0275 PITCH_AD_RATE 145 ALTIM_TOP_TURN_MARGIN 0 TM_NAVG 1.0

MASS 51861 PITCH_MAXERRORS 1 ALTIM_TOP_MIN_OBSTACLE 1 TM_PSD 0.0

NAV_MODE 0 PITCH_ADJ_GAIN 0 ALTIM_PING_DEPTH 0 LA_RECORDABOVE 200.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 10 LA_PROFILE 1.0

KALMAN_USE 2 ROLL_MIN 209 ALTIM_FREQUENCY 13 LA_XMITPROFILE 1.0

HD_A 0.003 ROLL_MAX 3785 ALTIM_PULSE 3 LA_UPLOADMAX 10000.0

HD_B 0.0099999998 ROLL_DEG 20 ALTIM_SENSITIVITY 2 LA_STARTS 23.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2590 XPDR_VALID 2

HEADING -1 C_ROLL_CLIMB 2165 XPDR_INHIBIT 90

ESCAPE_HEADING 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 128 D_SURF 3 PITCH_ADJ_DBAND 0 SURFACE_URGENCY_TRY 0

AH0_10V 110 D_TGT 990 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_AD_RATE 145 TCM_ROLL_OFFSET 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 TGT_AUTO_DEFAULT 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 TGT_DEFAULT_LAT 4736

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_GAIN 60 TGT_DEFAULT_LON -12218

ALTIM_PING_DELTA 10 FG_AHR_24V 0 PITCH_MAX 3941 TM_NAVG 1.0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 TM_NFFT 256.0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 225 TM_PROFILE 1.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_TIMEOUT 15 TM_PSD 0.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.003 PRESSURE_SLOPE 0.000116609 TM_STARTS 41.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PRESSURE_YINT -61.82621 TM_UPLOADMAX 0.0

APOGEE_PITCH -8 HD_C 9.9999997e-06 PROTOCOL 9 TM_XMITPROFILE 1.0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_DEVICE -1 T_DIVE 320

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPUPLOAD 0 ID 181 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0 RHO 1.0275 T_GPS_CHARGE -41445.758

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS_DEVICE 33 LA_PROFILE 1.0 ROLL_ADJ_GAIN 0 T_MISSION 350

COMPASS_USE 0 LA_RECORDABOVE 200.0 ROLL_AD_RATE 350 T_NO_W 120

COURSE_BIAS 0 LA_STARTS 23.0 ROLL_CNV 0.028270001 T_RSLEEP 2

C_PITCH 2300 LA_UPLOADMAX 10000.0 ROLL_DEG 20 T_TURN 225

C_ROLL_CLIMB 2165 LA_XMITPROFILE 1.0 ROLL_MAX 3785 T_TURN_SAMPINT 5

C_ROLL_DIVE 2590 LOGGERDEVICE1 99 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_VBD 2869 LOGGERDEVICE2 117 ROLL_MIN 209 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 R_PORT_OVSHOOT 58 USE_BATHY -8

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 34 USE_ICE 0

DEVICE2 102 MASS 51861 SEABIRD_C_G -9.9512653 VBD_BLEED_AD_RATE 8

DEVICE3 39 MAX_BUOY 175 SEABIRD_C_H 1.1266108 VBD_CNV -0.24529999

DEVICE4 -1 MINV_10V 8 SEABIRD_C_I -0.0016982662 VBD_DBAND 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_J 0.00020129427 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SEABIRD_T_G 0.0043841996 VBD_MAXERRORS 1

DIVE 677 MOTHERBOARD 4 SEABIRD_T_H 0.00063541438 VBD_MIN 440

D_ABORT 1030 NAV_MODE 0 SEABIRD_T_I 2.4687597e-05 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 NOCOMM_ACTION 0 SEABIRD_T_J 2.6519353e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_DIVES 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SIM_W 0 XPDR_DEVICE 24

D_FLARE 3 N_GPS 20 SM_CC 475 XPDR_INHIBIT 90

D_NO_BLEED 200 N_NOCOMM 1 SPEED_FACTOR 1 XPDR_VALID 2

D_OFFGRID 1000 N_NOSURFACE 0 STROBE 0

D_PITCH 0 PHONE_DEVICE 49 SURFACE_URGENCY 0

D_SAFE 0 PHONE_SUPPLY 2 SURFACE_URGENCY_FORCE 0

Pre-dive calculations and measurements:

GPS1 171011,221507,2144.551,12026.470,28,1.6,29,-2.6 TGT_NAME W2

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.29 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -61.2 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 171011,222031,2144.339,12026.519,11,1.7,16,-2.6 MHEAD_RNG_PITCHd_Wd 274.1,45633,-16.5,-10.313

SPEED_LIMITS 0.179,0.281 D_GRID 806

Post-dive calculations and measurements:

FINISH 0.5,0.998121 _10V_AH 9.8,82.511

SM_CCo 14302,0.00,0.000,0,0,443,595.10 FG_AHR_24Vo 0.000

SM_GC 1.24,6.28,0.00,0.00,0.028,0.000,0.000,199,2602,443,-6.47,0.31,595.10,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2141.13,12111.36,171011,191916 MEM 321660

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 73573,1271

HUMID 51.53 CAP_FILE_SIZE 145989,0

INTERNAL_PRESSURE 9.38513 CFSIZE 260165632,190562304

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 GPS 181011,022036,2143.101,12026.721,34,1.0,39,-2.6

_24V_AH 23.9,112.217

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 218 84.19 SBE_CT 874 24 501.71

Roll_motor 57 63 87.33 AA4330 0 0 0.00

VBD_pump_during_apogee 613 939 13764.28 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 58.42 nil 0 0 0.00

Iridium_during_connect 19 160 73.72 TMicro 0 0 0.00

Iridium_during_xfer 134 223 717.38 LAB 0 0 0.00

Transponder_ping 0 420 2.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.36

TT8 3005 19 583.20

LPSleep 8175 2 175.46

TT8_Active 643 19 124.91

TT8_Sampling 2436 39 950.42

TT8_CF8 360 45 161.70

TT8_Kalman 0 0 0.00

Analog_circuits 1856 12 218.27

GPS_charging 0 0 0.00

Compass 2233 15 328.32

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 -0.49 -170.3 0.0 0.0 0 81 0.00 0.00 -62.20 0.000 2 0.000 0.000 140 2600 2202 0 0 0 0 0 0

84 -0.49 -170.3 3.0 -3.0 11 132 8.27 1.08 -32.35 0.000 4 0.219 0.063 2132 3304 3563 0 0 0 0 0 0

387 -0.49 -170.3 95.6 -23.1 64 394 0.00 1.05 0.00 0.000 6 0.000 0.023 2132 2572 3560 0 0 0 0 0 0

732 -0.49 -170.3 164.3 -15.8 125 739 0.00 1.12 0.00 0.000 4 0.000 0.036 2127 3307 3558 0 0 0 0 0 0

842 -0.49 -170.3 180.8 -15.0 144 848 0.00 1.02 0.00 0.000 6 0.000 0.023 2127 2590 3558 0 0 0 0 0 0

1175 -0.49 -170.3 226.7 -13.5 186 1179 0.00 1.10 0.00 0.000 4 0.000 0.037 2121 3308 3558 0 0 0 0 0 0

1248 -0.49 -170.3 236.9 -13.2 192 1254 0.00 1.02 0.00 0.000 6 0.000 0.023 2122 2591 3557 0 0 0 0 0 0

1573 -0.49 -170.3 277.9 -12.8 223 1577 0.00 0.95 0.00 0.000 4 0.000 0.024 2121 1892 3557 0 0 0 0 0 0

1697 -0.49 -170.3 294.9 -13.5 234 1701 0.00 1.08 0.00 0.000 6 0.000 0.034 2116 2604 3556 0 0 0 0 0 0

2028 -0.49 -170.3 342.4 -14.2 265 2032 0.00 1.00 0.00 0.000 4 0.000 0.025 2116 1895 3554 0 0 0 0 0 0

2147 -0.49 -170.3 358.8 -13.7 275 2153 0.00 1.05 0.00 0.000 6 0.000 0.035 2112 2583 3553 0 0 0 0 0 0

2472 -0.49 -170.3 402.0 -12.6 306 2474 0.12 0.00 0.00 0.000 6 0.164 0.000 2145 2583 3550 0 0 0 0 0 0

2791 -0.49 -170.3 433.8 -8.3 336 2795 0.00 1.08 0.00 0.000 4 0.000 0.038 2140 3293 3547 0 0 0 0 0 0

2814 -0.49 -170.3 435.8 -9.0 338 2818 0.00 1.02 0.00 0.000 6 0.000 0.025 2141 2604 3547 0 0 0 0 0 0

3145 -0.49 -170.3 467.3 -7.7 369 3148 0.00 1.02 0.00 0.000 4 0.000 0.028 2140 1881 3543 0 0 0 0 0 0

3225 -0.49 -170.3 473.0 -7.6 376 3229 0.00 1.10 0.00 0.000 6 0.000 0.038 2136 2593 3542 0 0 0 0 0 0

3558 -0.49 -170.3 497.7 -7.5 407 3561 0.00 1.02 0.00 0.000 4 0.000 0.027 2136 1875 3538 0 0 0 0 0 0

3641 -0.49 -170.3 503.8 -7.3 412 3648 0.00 1.10 0.00 0.000 6 0.000 0.039 2131 2582 3538 0 0 0 0 0 0

3959 -0.49 -170.3 536.4 -11.9 428 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2583 3534 0 0 0 0 0 0

4267 -0.49 -170.3 576.2 -12.8 443 4268 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2583 3532 0 0 0 0 0 0

4576 -0.49 -170.3 621.8 -14.8 458 4580 0.00 1.02 0.00 0.000 4 0.000 0.028 2131 1877 3529 0 0 0 0 0 0

4638 -0.49 -170.3 631.5 -15.4 460 4645 0.00 1.12 0.00 0.000 6 0.000 0.040 2125 2594 3528 0 0 0 0 0 0

4954 -0.49 -170.3 671.4 -12.4 476 4958 0.00 1.02 0.00 0.000 4 0.000 0.028 2125 1885 3526 0 0 0 0 0 0

4981 -0.49 -170.3 674.9 -11.0 477 4985 0.00 1.10 0.00 0.000 6 0.000 0.037 2121 2597 3526 0 0 0 0 0 0

5310 -0.49 -170.3 713.3 -11.2 493 5313 0.00 1.05 0.00 0.000 4 0.000 0.028 2121 1876 3523 0 0 0 0 0 0

5327 -0.49 -170.3 715.6 -11.5 493 5334 0.00 1.12 0.00 0.000 6 0.000 0.038 2115 2595 3523 0 0 0 0 0 0

5643 -0.49 -170.3 754.0 -11.6 509 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2595 3520 0 0 0 0 0 0

5954 -0.49 -170.3 776.3 -7.0 524 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2595 3519 0 0 0 0 0 0

6262 -0.49 -170.3 806.0 -9.3 539 6266 0.00 1.05 0.00 0.000 4 0.000 0.028 2116 1872 3517 0 0 0 0 0 0

6270 end dive: TARGET_DEPTH_EXCEEDED

state 6270 begin apogee

6277 -0.13 0.0 806.8 8.1 539 6410 0.45 0.00 125.50 0.939 6 0.131 0.000 2253 2175 2869 0 0 0 0 0 0

6411 end apogee: CONTROL_FINISHED_OK

state 6411 begin climb

6413 0.49 170.3 803.9 0.0 545 6555 0.55 1.15 134.45 0.913 4 0.065 0.033 2466 1469 2173 0 0 0 0 0 0

6648 0.49 170.3 775.2 13.9 556 6655 0.00 1.08 0.00 0.000 6 0.000 0.032 2466 2164 2172 0 0 0 0 0 0

6964 0.54 214.0 748.8 8.5 572 7007 0.00 1.12 34.45 0.878 4 0.000 0.040 2466 2868 1996 0 0 0 0 0 0

7101 0.54 214.0 733.5 10.8 578 7106 0.00 1.08 0.00 0.000 6 0.000 0.029 2470 2161 1994 0 0 0 0 0 0

7429 0.59 254.1 705.1 8.7 594 7465 0.00 1.05 31.52 0.848 4 0.000 0.032 2476 1463 1835 0 0 0 0 0 0

7542 0.61 275.4 695.6 9.4 599 7565 0.00 1.08 18.33 0.802 6 0.000 0.032 2476 2163 1746 0 0 0 0 0 0

7875 0.73 366.3 670.8 6.6 615 7953 0.17 1.12 71.05 0.844 4 0.072 0.040 2558 2864 1375 0 0 0 0 0 0

8007 0.73 366.3 658.2 10.4 621 8011 0.00 1.08 0.00 0.000 6 0.000 0.028 2562 2163 1373 0 0 0 0 0 0

8341 0.73 371.8 624.6 10.1 637 8350 0.00 1.02 5.82 0.649 4 0.000 0.031 2567 1462 1352 0 0 0 0 0 0

8442 0.75 381.6 614.1 9.9 641 8455 0.00 1.08 9.40 0.699 6 0.000 0.032 2568 2163 1312 0 0 0 0 0 0

8763 0.75 381.6 580.8 10.6 657 8766 0.00 1.08 0.00 0.000 4 0.000 0.039 2567 2865 1313 0 0 0 0 0 0

8814 0.75 381.6 575.3 10.8 659 8818 0.10 1.08 0.00 0.000 6 0.124 0.029 2539 2160 1312 0 0 0 0 0 0

9141 0.81 430.7 547.5 8.3 675 9184 0.00 1.10 38.53 0.773 4 0.000 0.037 2542 1470 1112 0 0 0 0 0 0

9292 0.87 487.1 535.4 8.0 681 9344 0.08 1.08 45.85 0.754 6 0.058 0.031 2593 2169 883 0 0 0 0 0 0

9663 0.87 487.1 497.6 11.9 700 9667 0.00 1.05 0.00 0.000 4 0.000 0.037 2593 2862 883 0 0 0 0 0 0

9724 0.87 487.1 489.4 13.2 705 9731 0.00 1.05 0.00 0.000 6 0.000 0.028 2598 2164 883 0 0 0 0 0 0

10050 0.87 487.1 445.9 13.6 736 10053 0.00 1.02 0.00 0.000 4 0.000 0.037 2602 1479 882 0 0 0 0 0 0

10141 0.87 487.1 433.3 14.4 744 10145 0.00 1.05 0.00 0.000 6 0.000 0.030 2602 2175 883 0 0 0 0 0 0

10473 0.90 510.4 394.7 9.4 775 10497 0.00 1.10 19.33 0.662 4 0.000 0.037 2602 2869 788 0 0 0 0 0 0

10544 0.97 565.3 388.6 8.1 781 10592 0.00 1.08 44.15 0.663 6 0.000 0.028 2606 2156 563 0 0 0 0 0 0

10913 1.02 606.2 359.5 8.6 815 10945 0.00 0.00 25.38 0.642 6 0.000 0.000 2607 2156 439 0 0 0 0 0 0

11264 1.03 612.7 328.7 10.0 848 11268 0.00 1.10 0.00 0.000 4 0.000 0.037 2605 2865 438 0 0 0 0 0 0

11524 1.03 612.7 299.5 11.6 871 11528 0.00 1.05 0.00 0.000 6 0.000 0.029 2606 2166 438 0 0 0 0 0 0

11855 1.03 612.7 261.9 13.0 902 11859 0.00 1.05 0.00 0.000 4 0.000 0.037 2606 1470 439 0 0 0 0 0 0

12062 1.03 612.7 235.1 12.2 920 12069 0.00 1.05 0.00 0.000 6 0.000 0.031 2602 2162 439 0 0 0 0 0 0

12388 1.03 612.7 201.6 11.4 951 12391 0.00 1.05 0.00 0.000 4 0.000 0.037 2600 2860 440 0 0 0 0 0 0

12648 1.03 612.7 169.7 12.9 995 12656 0.00 1.05 2.22 0.176 6 0.000 0.030 2602 2166 440 0 0 0 0 0 0

12997 1.03 612.7 126.6 10.9 1056 13004 0.00 1.08 0.52 0.093 4 0.000 0.031 2601 2857 442 0 0 0 0 0 0

13259 1.03 612.7 95.8 11.1 1102 13267 0.00 1.05 2.45 0.206 6 0.000 0.028 2601 2152 440 0 0 0 0 0 0

13607 1.03 612.7 60.8 10.7 1163 13615 0.00 1.08 1.25 0.080 4 0.000 0.030 2601 2871 442 0 0 0 0 0 0

13872 1.05 630.8 30.9 9.6 1209 13880 0.08 1.05 2.85 0.236 6 0.076 0.029 2638 2165 439 0 0 0 0 0 0

14194 end climb: SURFACE_DEPTH_REACHED

state 14197 begin surface coast

14225 end surface coast: CONTROL_FINISHED_OK

state 14225 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	677	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	58	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	34	MOTHERBOARD	4
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	DEVICE1	2
D_FLARE	3	SM_CC	475	ROLL_MAXERRORS	1	DEVICE2	102
D_TGT	990	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEVICE3	39
D_ABORT	1030	FILEMGR	0	ROLL_ADJ_DBAND	0	DEVICE4	-1
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MIN	440	DEVICE5	-1
D_BOOST	3	COMM_SEQ	0	VBD_MAX	3960	DEVICE6	-1
T_BOOST	0	PROTOCOL	9	C_VBD	2869	LOGGERS	0
D_FINISH	0	N_NOCOMM	1	VBD_DBAND	2	LOGGERDEVICE1	99
D_PITCH	0	NOCOMM_ACTION	0	VBD_CNV	-0.24529999	LOGGERDEVICE2	117
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	LOGGERDEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	COMPASS_DEVICE	33
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	49
T_DIVE	320	CAPMAXSIZE	100000	UNCOM_BLEED	50	GPS_DEVICE	32
T_MISSION	350	HEAPDBG	0	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_ABORT	1440	T_GPS	15	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_TURN	225	N_GPS	20	AH0_24V	150	SIM_W	0
T_TURN_SAMPINT	5	T_GPS_ALMANAC	0	AH0_10V	110	SIM_PITCH	0
T_NO_W	120	T_GPS_CHARGE	-41445.758	MINV_24V	19	SEABIRD_T_G	0.0043841996
T_LOITER	0	T_RSLEEP	2	MINV_10V	8	SEABIRD_T_H	0.00063541438
T_EPIRB	0	STROBE	0	FG_AHR_10V	0	SEABIRD_T_I	2.4687597e-05
USE_BATHY	-8	RAFOS_PEAK_OFFSET	1.5	FG_AHR_24V	0	SEABIRD_T_J	2.6519353e-06
USE_ICE	0	RAFOS_CORR_THRESH	60	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9512653
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	PRESSURE_YINT	-61.82621	SEABIRD_C_H	1.1266108
D_OFFGRID	1000	PITCH_MIN	225	PRESSURE_SLOPE	0.000116609	SEABIRD_C_I	-0.0016982662
T_WATCHDOG	10	PITCH_MAX	3941	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020129427
RELAUNCH	1	C_PITCH	2300	TCM_PITCH_OFFSET	0	TM_RECORDABOVE	200.0
APOGEE_PITCH	-8	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	TM_PROFILE	1.0
MAX_BUOY	175	PITCH_CNV	0.003125763	COMPASS_USE	0	TM_XMITPROFILE	1.0
COURSE_BIAS	0	P_OVSHOOT	0.039999999	ALTIM_BOTTOM_PING_RANGE	0	TM_UPLOADMAX	0.0
GLIDE_SLOPE	30	PITCH_GAIN	60	ALTIM_TOP_PING_RANGE	0	TM_STARTS	41.0
SPEED_FACTOR	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_TURN_MARGIN	0	TM_NFFT	256.0
RHO	1.0275	PITCH_AD_RATE	145	ALTIM_TOP_TURN_MARGIN	0	TM_NAVG	1.0
MASS	51861	PITCH_MAXERRORS	1	ALTIM_TOP_MIN_OBSTACLE	1	TM_PSD	0.0
NAV_MODE	0	PITCH_ADJ_GAIN	0	ALTIM_PING_DEPTH	0	LA_RECORDABOVE	200.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	10	LA_PROFILE	1.0
KALMAN_USE	2	ROLL_MIN	209	ALTIM_FREQUENCY	13	LA_XMITPROFILE	1.0
HD_A	0.003	ROLL_MAX	3785	ALTIM_PULSE	3	LA_UPLOADMAX	10000.0
HD_B	0.0099999998	ROLL_DEG	20	ALTIM_SENSITIVITY	2	LA_STARTS	23.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2590	XPDR_VALID	2
HEADING	-1	C_ROLL_CLIMB	2165	XPDR_INHIBIT	90
ESCAPE_HEADING	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003

GPS1	171011,221507,2144.551,12026.470,28,1.6,29,-2.6	TGT_NAME	W2
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.29	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-61.2	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	171011,222031,2144.339,12026.519,11,1.7,16,-2.6	MHEAD_RNG_PITCHd_Wd	274.1,45633,-16.5,-10.313
SPEED_LIMITS	0.179,0.281	D_GRID	806

FINISH	0.5,0.998121	_10V_AH	9.8,82.511
SM_CCo	14302,0.00,0.000,0,0,443,595.10	FG_AHR_24Vo	0.000
SM_GC	1.24,6.28,0.00,0.00,0.028,0.000,0.000,199,2602,443,-6.47,0.31,595.10,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2141.13,12111.36,171011,191916	MEM	321660
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	73573,1271
HUMID	51.53	CAP_FILE_SIZE	145989,0
INTERNAL_PRESSURE	9.38513	CFSIZE	260165632,190562304
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	GPS	181011,022036,2143.101,12026.721,34,1.0,39,-2.6
_24V_AH	23.9,112.217

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	218	84.19	SBE_CT	874	24	501.71
Roll_motor	57	63	87.33	AA4330	0	0	0.00
VBD_pump_during_apogee	613	939	13764.28	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	58.42	nil	0	0	0.00
Iridium_during_connect	19	160	73.72	TMicro	0	0	0.00
Iridium_during_xfer	134	223	717.38	LAB	0	0	0.00
Transponder_ping	0	420	2.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.36
TT8	3005	19	583.20
LPSleep	8175	2	175.46
TT8_Active	643	19	124.91
TT8_Sampling	2436	39	950.42
TT8_CF8	360	45	161.70
TT8_Kalman	0	0	0.00
Analog_circuits	1856	12	218.27
GPS_charging	0	0	0.00
Compass	2233	15	328.32
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	-0.49	-170.3	0.0	0.0	0	81	0.00	0.00	-62.20	0.000	2	0.000	0.000	140	2600	2202	0	0	0	0	0	0
84	-0.49	-170.3	3.0	-3.0	11	132	8.27	1.08	-32.35	0.000	4	0.219	0.063	2132	3304	3563	0	0	0	0	0	0
387	-0.49	-170.3	95.6	-23.1	64	394	0.00	1.05	0.00	0.000	6	0.000	0.023	2132	2572	3560	0	0	0	0	0	0
732	-0.49	-170.3	164.3	-15.8	125	739	0.00	1.12	0.00	0.000	4	0.000	0.036	2127	3307	3558	0	0	0	0	0	0
842	-0.49	-170.3	180.8	-15.0	144	848	0.00	1.02	0.00	0.000	6	0.000	0.023	2127	2590	3558	0	0	0	0	0	0
1175	-0.49	-170.3	226.7	-13.5	186	1179	0.00	1.10	0.00	0.000	4	0.000	0.037	2121	3308	3558	0	0	0	0	0	0
1248	-0.49	-170.3	236.9	-13.2	192	1254	0.00	1.02	0.00	0.000	6	0.000	0.023	2122	2591	3557	0	0	0	0	0	0
1573	-0.49	-170.3	277.9	-12.8	223	1577	0.00	0.95	0.00	0.000	4	0.000	0.024	2121	1892	3557	0	0	0	0	0	0
1697	-0.49	-170.3	294.9	-13.5	234	1701	0.00	1.08	0.00	0.000	6	0.000	0.034	2116	2604	3556	0	0	0	0	0	0
2028	-0.49	-170.3	342.4	-14.2	265	2032	0.00	1.00	0.00	0.000	4	0.000	0.025	2116	1895	3554	0	0	0	0	0	0
2147	-0.49	-170.3	358.8	-13.7	275	2153	0.00	1.05	0.00	0.000	6	0.000	0.035	2112	2583	3553	0	0	0	0	0	0
2472	-0.49	-170.3	402.0	-12.6	306	2474	0.12	0.00	0.00	0.000	6	0.164	0.000	2145	2583	3550	0	0	0	0	0	0
2791	-0.49	-170.3	433.8	-8.3	336	2795	0.00	1.08	0.00	0.000	4	0.000	0.038	2140	3293	3547	0	0	0	0	0	0
2814	-0.49	-170.3	435.8	-9.0	338	2818	0.00	1.02	0.00	0.000	6	0.000	0.025	2141	2604	3547	0	0	0	0	0	0
3145	-0.49	-170.3	467.3	-7.7	369	3148	0.00	1.02	0.00	0.000	4	0.000	0.028	2140	1881	3543	0	0	0	0	0	0
3225	-0.49	-170.3	473.0	-7.6	376	3229	0.00	1.10	0.00	0.000	6	0.000	0.038	2136	2593	3542	0	0	0	0	0	0
3558	-0.49	-170.3	497.7	-7.5	407	3561	0.00	1.02	0.00	0.000	4	0.000	0.027	2136	1875	3538	0	0	0	0	0	0
3641	-0.49	-170.3	503.8	-7.3	412	3648	0.00	1.10	0.00	0.000	6	0.000	0.039	2131	2582	3538	0	0	0	0	0	0
3959	-0.49	-170.3	536.4	-11.9	428	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2583	3534	0	0	0	0	0	0
4267	-0.49	-170.3	576.2	-12.8	443	4268	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2583	3532	0	0	0	0	0	0
4576	-0.49	-170.3	621.8	-14.8	458	4580	0.00	1.02	0.00	0.000	4	0.000	0.028	2131	1877	3529	0	0	0	0	0	0
4638	-0.49	-170.3	631.5	-15.4	460	4645	0.00	1.12	0.00	0.000	6	0.000	0.040	2125	2594	3528	0	0	0	0	0	0
4954	-0.49	-170.3	671.4	-12.4	476	4958	0.00	1.02	0.00	0.000	4	0.000	0.028	2125	1885	3526	0	0	0	0	0	0
4981	-0.49	-170.3	674.9	-11.0	477	4985	0.00	1.10	0.00	0.000	6	0.000	0.037	2121	2597	3526	0	0	0	0	0	0
5310	-0.49	-170.3	713.3	-11.2	493	5313	0.00	1.05	0.00	0.000	4	0.000	0.028	2121	1876	3523	0	0	0	0	0	0
5327	-0.49	-170.3	715.6	-11.5	493	5334	0.00	1.12	0.00	0.000	6	0.000	0.038	2115	2595	3523	0	0	0	0	0	0
5643	-0.49	-170.3	754.0	-11.6	509	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	2595	3520	0	0	0	0	0	0
5954	-0.49	-170.3	776.3	-7.0	524	5955	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	2595	3519	0	0	0	0	0	0
6262	-0.49	-170.3	806.0	-9.3	539	6266	0.00	1.05	0.00	0.000	4	0.000	0.028	2116	1872	3517	0	0	0	0	0	0
6270	end dive: TARGET_DEPTH_EXCEEDED
state	6270	begin apogee
6277	-0.13	0.0	806.8	8.1	539	6410	0.45	0.00	125.50	0.939	6	0.131	0.000	2253	2175	2869	0	0	0	0	0	0
6411	end apogee: CONTROL_FINISHED_OK
state	6411	begin climb
6413	0.49	170.3	803.9	0.0	545	6555	0.55	1.15	134.45	0.913	4	0.065	0.033	2466	1469	2173	0	0	0	0	0	0
6648	0.49	170.3	775.2	13.9	556	6655	0.00	1.08	0.00	0.000	6	0.000	0.032	2466	2164	2172	0	0	0	0	0	0
6964	0.54	214.0	748.8	8.5	572	7007	0.00	1.12	34.45	0.878	4	0.000	0.040	2466	2868	1996	0	0	0	0	0	0
7101	0.54	214.0	733.5	10.8	578	7106	0.00	1.08	0.00	0.000	6	0.000	0.029	2470	2161	1994	0	0	0	0	0	0
7429	0.59	254.1	705.1	8.7	594	7465	0.00	1.05	31.52	0.848	4	0.000	0.032	2476	1463	1835	0	0	0	0	0	0
7542	0.61	275.4	695.6	9.4	599	7565	0.00	1.08	18.33	0.802	6	0.000	0.032	2476	2163	1746	0	0	0	0	0	0
7875	0.73	366.3	670.8	6.6	615	7953	0.17	1.12	71.05	0.844	4	0.072	0.040	2558	2864	1375	0	0	0	0	0	0
8007	0.73	366.3	658.2	10.4	621	8011	0.00	1.08	0.00	0.000	6	0.000	0.028	2562	2163	1373	0	0	0	0	0	0
8341	0.73	371.8	624.6	10.1	637	8350	0.00	1.02	5.82	0.649	4	0.000	0.031	2567	1462	1352	0	0	0	0	0	0
8442	0.75	381.6	614.1	9.9	641	8455	0.00	1.08	9.40	0.699	6	0.000	0.032	2568	2163	1312	0	0	0	0	0	0
8763	0.75	381.6	580.8	10.6	657	8766	0.00	1.08	0.00	0.000	4	0.000	0.039	2567	2865	1313	0	0	0	0	0	0
8814	0.75	381.6	575.3	10.8	659	8818	0.10	1.08	0.00	0.000	6	0.124	0.029	2539	2160	1312	0	0	0	0	0	0
9141	0.81	430.7	547.5	8.3	675	9184	0.00	1.10	38.53	0.773	4	0.000	0.037	2542	1470	1112	0	0	0	0	0	0
9292	0.87	487.1	535.4	8.0	681	9344	0.08	1.08	45.85	0.754	6	0.058	0.031	2593	2169	883	0	0	0	0	0	0
9663	0.87	487.1	497.6	11.9	700	9667	0.00	1.05	0.00	0.000	4	0.000	0.037	2593	2862	883	0	0	0	0	0	0
9724	0.87	487.1	489.4	13.2	705	9731	0.00	1.05	0.00	0.000	6	0.000	0.028	2598	2164	883	0	0	0	0	0	0
10050	0.87	487.1	445.9	13.6	736	10053	0.00	1.02	0.00	0.000	4	0.000	0.037	2602	1479	882	0	0	0	0	0	0
10141	0.87	487.1	433.3	14.4	744	10145	0.00	1.05	0.00	0.000	6	0.000	0.030	2602	2175	883	0	0	0	0	0	0
10473	0.90	510.4	394.7	9.4	775	10497	0.00	1.10	19.33	0.662	4	0.000	0.037	2602	2869	788	0	0	0	0	0	0
10544	0.97	565.3	388.6	8.1	781	10592	0.00	1.08	44.15	0.663	6	0.000	0.028	2606	2156	563	0	0	0	0	0	0
10913	1.02	606.2	359.5	8.6	815	10945	0.00	0.00	25.38	0.642	6	0.000	0.000	2607	2156	439	0	0	0	0	0	0
11264	1.03	612.7	328.7	10.0	848	11268	0.00	1.10	0.00	0.000	4	0.000	0.037	2605	2865	438	0	0	0	0	0	0
11524	1.03	612.7	299.5	11.6	871	11528	0.00	1.05	0.00	0.000	6	0.000	0.029	2606	2166	438	0	0	0	0	0	0
11855	1.03	612.7	261.9	13.0	902	11859	0.00	1.05	0.00	0.000	4	0.000	0.037	2606	1470	439	0	0	0	0	0	0
12062	1.03	612.7	235.1	12.2	920	12069	0.00	1.05	0.00	0.000	6	0.000	0.031	2602	2162	439	0	0	0	0	0	0
12388	1.03	612.7	201.6	11.4	951	12391	0.00	1.05	0.00	0.000	4	0.000	0.037	2600	2860	440	0	0	0	0	0	0
12648	1.03	612.7	169.7	12.9	995	12656	0.00	1.05	2.22	0.176	6	0.000	0.030	2602	2166	440	0	0	0	0	0	0
12997	1.03	612.7	126.6	10.9	1056	13004	0.00	1.08	0.52	0.093	4	0.000	0.031	2601	2857	442	0	0	0	0	0	0
13259	1.03	612.7	95.8	11.1	1102	13267	0.00	1.05	2.45	0.206	6	0.000	0.028	2601	2152	440	0	0	0	0	0	0
13607	1.03	612.7	60.8	10.7	1163	13615	0.00	1.08	1.25	0.080	4	0.000	0.030	2601	2871	442	0	0	0	0	0	0
13872	1.05	630.8	30.9	9.6	1209	13880	0.08	1.05	2.85	0.236	6	0.076	0.029	2638	2165	439	0	0	0	0	0	0
14194	end climb: SURFACE_DEPTH_REACHED
state	14197	begin surface coast
14225	end surface coast: CONTROL_FINISHED_OK
state	14225	begin surface