Glider dive log

OKMC Jun11 * SG181 * Dive index * Mission links * Dive 682 * 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 682 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 51 DEEPGLIDERMB 0

N_DIVES 0 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 30 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 -41452.043 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 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 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 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 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 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 -41452.043

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 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 51 USE_BATHY -7

DEVICE1 2 LOGGERS 0 R_STBD_OVSHOOT 30 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 682 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 181011,205906,2140.698,12021.804,29,0.9,29,-2.6 TGT_NAME W2

_CALLS 4 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.235

_SM_DEPTHo 1.40 KALMAN_X 28223.1,-227.3,-456.5,-48601.6,-2485.5

_SM_ANGLEo -61.7 KALMAN_Y 68902.1,-606.5,-201.3,102840.5,390.9

GPS2 181011,211050,2140.296,12021.774,15,1.1,15,-2.6 MHEAD_RNG_PITCHd_Wd 285.7,38455,-16.5,-10.312

SPEED_LIMITS 0.179,0.281 D_GRID 684

Post-dive calculations and measurements:

FINISH 0.6,1.021320 _10V_AH 9.8,82.957

SM_CCo 13417,0.00,0.000,0,0,445,594.61 FG_AHR_24Vo 0.000

SM_GC 1.42,6.62,0.00,0.00,0.032,0.000,0.000,199,2628,445,-6.69,1.07,594.61,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2134.17,12019.23,181011,161618 MEM 323016

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 73591,1273

HUMID 48.11 CAP_FILE_SIZE 150799,0

INTERNAL_PRESSURE 9.39489 CFSIZE 260165632,190140416

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 GPS 191011,005625,2139.104,12022.380,39,1.6,40,-2.6

_24V_AH 24.0,112.897

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 223 91.01 SBE_CT 872 24 502.37

Roll_motor 60 65 95.12 AA4330 0 0 0.00

VBD_pump_during_apogee 585 859 12063.24 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 128 103 318.78 nil 0 0 0.00

Iridium_during_connect 63 160 242.88 TMicro 0 0 0.00

Iridium_during_xfer 155 223 834.45 LAB 0 0 0.00

Transponder_ping 0 420 2.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.13

TT8 2986 19 579.41

LPSleep 7482 2 160.60

TT8_Active 619 19 120.19

TT8_Sampling 2653 39 1035.04

TT8_CF8 380 45 170.91

TT8_Kalman 0 0 0.00

Analog_circuits 1861 12 218.89

GPS_charging 0 0 0.00

Compass 2272 15 334.05

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 -0.60 -170.3 0.0 0.0 0 81 0.00 0.00 -61.60 0.000 2 0.000 0.000 127 2587 2241 0 0 0 0 0 0

84 -0.60 -170.3 3.4 -3.7 11 132 8.65 1.12 -30.17 0.000 4 0.223 0.065 2170 3299 3565 0 0 0 0 0 0

234 -0.60 -170.3 44.6 -28.2 37 241 0.00 1.05 0.00 0.000 6 0.000 0.025 2169 2568 3563 0 0 0 0 0 0

580 -0.60 -170.3 125.9 -16.2 98 587 0.00 1.12 0.00 0.000 4 0.000 0.039 2164 3295 3560 0 0 0 0 0 0

668 -0.60 -170.3 140.0 -16.7 113 675 0.00 1.00 0.00 0.000 6 0.000 0.024 2164 2593 3559 0 0 0 0 0 0

1014 -0.60 -170.3 190.7 -13.1 174 1022 0.00 1.12 0.00 0.000 4 0.000 0.040 2159 3306 3559 0 0 0 0 0 0

1080 -0.60 -170.3 199.1 -12.2 185 1086 0.00 1.02 0.00 0.000 6 0.000 0.024 2159 2589 3559 0 0 0 0 0 0

1413 -0.60 -170.3 239.3 -11.4 217 1417 0.00 0.95 0.00 0.000 4 0.000 0.026 2159 1892 3560 0 0 0 0 0 0

1493 -0.60 -170.3 248.1 -10.8 224 1496 0.00 1.08 0.00 0.000 6 0.000 0.035 2154 2599 3560 0 0 0 0 0 0

1825 -0.60 -170.3 288.1 -12.2 255 1828 0.00 1.00 0.00 0.000 4 0.000 0.026 2153 1886 3559 0 0 0 0 0 0

1920 -0.60 -170.3 300.0 -11.9 263 1926 0.00 1.08 0.00 0.000 6 0.000 0.037 2149 2588 3559 0 0 0 0 0 0

2247 -0.60 -170.3 332.2 -8.3 294 2251 0.12 1.00 0.00 0.000 4 0.155 0.028 2183 1899 3557 0 0 0 0 0 0

2330 -0.60 -170.3 337.9 -6.4 301 2337 0.00 1.05 0.00 0.000 6 0.000 0.034 2180 2591 3556 0 0 0 0 0 0

2656 -0.60 -170.3 365.2 -9.5 332 2659 0.00 1.00 0.00 0.000 4 0.000 0.028 2180 1893 3553 0 0 0 0 0 0

2717 -0.60 -170.3 371.0 -9.1 337 2724 0.00 1.08 0.00 0.000 6 0.000 0.038 2179 2589 3553 0 0 0 0 0 0

3044 -0.60 -170.3 400.3 -9.1 368 3047 0.00 1.08 0.00 0.000 4 0.000 0.043 2179 3289 3550 0 0 0 0 0 0

3083 -0.60 -170.3 404.3 -9.6 371 3089 0.00 1.02 0.00 0.000 6 0.000 0.027 2179 2586 3549 0 0 0 0 0 0

3408 -0.60 -170.3 431.4 -7.7 402 3412 0.00 0.98 0.00 0.000 4 0.000 0.028 2179 1899 3546 0 0 0 0 0 0

3469 -0.60 -170.3 435.9 -7.4 407 3476 0.00 1.08 0.00 0.000 6 0.000 0.038 2179 2591 3545 0 0 0 0 0 0

3795 -0.60 -170.3 456.8 -6.5 438 3799 0.00 1.10 0.00 0.000 4 0.000 0.044 2179 3287 3542 0 0 0 0 0 0

3835 -0.60 -170.3 459.8 -7.1 441 3842 0.00 1.02 0.00 0.000 6 0.000 0.027 2179 2590 3542 0 0 0 0 0 0

4161 -0.60 -170.3 483.5 -7.0 472 4164 0.00 1.02 0.00 0.000 4 0.000 0.031 2179 1889 3539 0 0 0 0 0 0

4242 -0.60 -170.3 489.0 -6.7 479 4246 0.00 1.10 0.00 0.000 6 0.000 0.040 2178 2593 3538 0 0 0 0 0 0

4571 -0.60 -170.3 507.6 -4.6 503 4574 0.00 1.08 0.00 0.000 4 0.000 0.045 2179 3289 3535 0 0 0 0 0 0

4618 -0.60 -170.3 510.0 -4.8 505 4622 0.00 1.02 0.00 0.000 6 0.000 0.028 2179 2611 3534 0 0 0 0 0 0

4952 -0.60 -170.3 531.9 -6.9 521 4956 0.00 1.05 0.00 0.000 4 0.000 0.031 2178 1880 3532 0 0 0 0 0 0

5002 -0.60 -170.3 536.1 -7.8 523 5006 0.00 1.10 0.00 0.000 6 0.000 0.040 2179 2584 3532 0 0 0 0 0 0

5331 -0.60 -170.3 563.1 -8.0 539 5335 0.00 1.05 0.00 0.000 4 0.000 0.031 2179 1874 3529 0 0 0 0 0 0

5445 -0.60 -170.3 572.8 -8.4 544 5449 0.00 1.12 0.00 0.000 6 0.000 0.041 2179 2588 3529 0 0 0 0 0 0

5779 -0.60 -170.3 598.6 -8.2 560 5783 0.00 1.05 0.00 0.000 4 0.000 0.031 2179 1879 3526 0 0 0 0 0 0

5813 -0.60 -170.3 601.8 -8.4 561 5816 0.00 1.12 0.00 0.000 6 0.000 0.040 2178 2593 3525 0 0 0 0 0 0

6135 -0.60 -170.3 628.7 -8.4 577 6138 0.00 1.05 0.00 0.000 4 0.000 0.031 2178 1882 3523 0 0 0 0 0 0

6253 -0.60 -170.3 638.2 -7.8 582 6257 0.00 1.12 0.00 0.000 6 0.000 0.040 2178 2598 3523 0 0 0 0 0 0

6581 -0.60 -170.3 666.1 -8.4 598 6584 0.00 1.08 0.00 0.000 4 0.000 0.047 2178 3285 3521 0 0 0 0 0 0

6660 -0.60 -170.3 673.5 -9.2 601 6664 0.00 1.08 0.00 0.000 6 0.000 0.029 2179 2577 3520 0 0 0 0 0 0

6814 end dive: TARGET_DEPTH_EXCEEDED

state 6814 begin apogee

6821 -0.19 0.0 685.2 7.3 609 6953 0.38 0.00 124.60 0.859 6 0.091 0.000 2312 2152 2868 0 0 0 0 0 0

6954 end apogee: CONTROL_FINISHED_OK

state 6954 begin climb

6957 0.60 170.3 692.2 0.0 615 7102 0.68 1.10 131.82 0.845 4 0.045 0.034 2593 1466 2173 0 0 0 0 0 0

7354 0.60 170.3 658.1 13.0 633 7358 0.00 1.10 0.00 0.000 6 0.000 0.034 2594 2172 2170 0 0 0 0 0 0

7682 0.60 170.3 617.7 12.6 649 7686 0.00 1.08 0.00 0.000 4 0.000 0.035 2598 1464 2170 0 0 0 0 0 0

7818 0.60 170.3 601.9 11.6 655 7822 0.00 1.08 0.00 0.000 6 0.000 0.035 2598 2159 2169 0 0 0 0 0 0

8152 0.60 170.3 564.8 11.7 671 8156 0.00 1.05 0.00 0.000 4 0.000 0.035 2603 1467 2168 0 0 0 0 0 0

8333 0.60 170.3 545.2 10.6 679 8337 0.10 1.08 0.00 0.000 6 0.151 0.036 2573 2161 2168 0 0 0 0 0 0

8667 0.69 237.0 516.8 7.6 695 8723 0.00 1.12 50.25 0.748 4 0.000 0.041 2573 2860 1903 0 0 0 0 0 0

8765 0.72 269.0 508.0 9.0 699 8798 0.00 1.08 25.77 0.708 6 0.000 0.031 2575 2166 1771 0 0 0 0 0 0

9114 0.74 281.7 474.5 9.8 728 9130 0.12 1.05 11.48 0.661 4 0.090 0.034 2640 1458 1719 0 0 0 0 0 0

9267 0.74 281.7 454.5 13.6 741 9271 0.00 1.10 0.00 0.000 6 0.000 0.036 2640 2161 1718 0 0 0 0 0 0

9598 0.74 281.7 410.4 12.5 772 9599 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2162 1718 0 0 0 0 0 0

9919 0.74 281.7 372.4 11.5 802 9922 0.00 1.05 0.00 0.000 4 0.000 0.035 2644 1470 1717 0 0 0 0 0 0

10038 0.74 281.7 357.7 12.4 812 10045 0.08 1.08 0.00 0.000 6 0.157 0.036 2620 2162 1717 0 0 0 0 0 0

10365 0.74 281.7 318.5 11.9 843 10366 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2162 1717 0 0 0 0 0 0

10683 0.74 281.7 281.9 10.9 873 10687 0.00 1.05 0.00 0.000 4 0.000 0.034 2623 1469 1717 0 0 0 0 0 0

10839 0.74 282.1 265.6 10.3 886 10846 0.00 1.08 0.00 0.000 6 0.000 0.035 2624 2163 1717 0 0 0 0 0 0

11166 0.77 307.1 232.9 9.3 917 11192 0.00 1.12 20.12 0.572 4 0.000 0.034 2628 1458 1616 0 0 0 0 0 0

11334 0.77 307.1 213.3 12.9 932 11338 0.00 1.10 0.00 0.000 6 0.000 0.034 2628 2167 1615 0 0 0 0 0 0

11674 0.83 352.0 172.7 8.5 983 11716 0.00 1.05 34.47 0.529 4 0.000 0.037 2628 2866 1434 0 0 0 0 0 0

11758 0.92 424.1 166.5 7.4 997 11817 0.00 1.08 54.38 0.507 6 0.000 0.031 2632 2161 1140 0 0 0 0 0 0

12157 0.92 431.0 126.9 10.0 1067 12170 0.12 0.00 8.27 0.500 6 0.090 0.000 2692 2161 1111 0 0 0 0 0 0

12511 1.02 510.9 95.2 7.0 1129 12578 0.00 1.08 59.10 0.472 4 0.000 0.032 2692 2873 785 0 0 0 0 0 0

12630 1.15 613.5 88.8 6.1 1149 12701 0.10 1.08 63.90 0.443 6 0.047 0.031 2754 2172 439 0 0 0 0 0 0

13041 1.15 613.5 37.0 13.1 1221 13048 0.00 1.05 0.73 0.084 4 0.000 0.031 2754 2878 442 0 0 0 0 0 0

13123 1.15 613.5 26.1 13.6 1235 13131 0.00 1.08 0.17 0.092 6 0.000 0.030 2758 2164 442 0 0 0 0 0 0

13311 end climb: SURFACE_DEPTH_REACHED

state 13311 begin surface coast

13340 end surface coast: CONTROL_FINISHED_OK

state 13340 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	682	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	51	DEEPGLIDERMB	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	30	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	-41452.043	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	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	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	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	181011,205906,2140.698,12021.804,29,0.9,29,-2.6	TGT_NAME	W2
_CALLS	4	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.235
_SM_DEPTHo	1.40	KALMAN_X	28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo	-61.7	KALMAN_Y	68902.1,-606.5,-201.3,102840.5,390.9
GPS2	181011,211050,2140.296,12021.774,15,1.1,15,-2.6	MHEAD_RNG_PITCHd_Wd	285.7,38455,-16.5,-10.312
SPEED_LIMITS	0.179,0.281	D_GRID	684

FINISH	0.6,1.021320	_10V_AH	9.8,82.957
SM_CCo	13417,0.00,0.000,0,0,445,594.61	FG_AHR_24Vo	0.000
SM_GC	1.42,6.62,0.00,0.00,0.032,0.000,0.000,199,2628,445,-6.69,1.07,594.61,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2134.17,12019.23,181011,161618	MEM	323016
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	73591,1273
HUMID	48.11	CAP_FILE_SIZE	150799,0
INTERNAL_PRESSURE	9.39489	CFSIZE	260165632,190140416
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	GPS	191011,005625,2139.104,12022.380,39,1.6,40,-2.6
_24V_AH	24.0,112.897

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	223	91.01	SBE_CT	872	24	502.37
Roll_motor	60	65	95.12	AA4330	0	0	0.00
VBD_pump_during_apogee	585	859	12063.24	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	128	103	318.78	nil	0	0	0.00
Iridium_during_connect	63	160	242.88	TMicro	0	0	0.00
Iridium_during_xfer	155	223	834.45	LAB	0	0	0.00
Transponder_ping	0	420	2.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.13
TT8	2986	19	579.41
LPSleep	7482	2	160.60
TT8_Active	619	19	120.19
TT8_Sampling	2653	39	1035.04
TT8_CF8	380	45	170.91
TT8_Kalman	0	0	0.00
Analog_circuits	1861	12	218.89
GPS_charging	0	0	0.00
Compass	2272	15	334.05
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	-0.60	-170.3	0.0	0.0	0	81	0.00	0.00	-61.60	0.000	2	0.000	0.000	127	2587	2241	0	0	0	0	0	0
84	-0.60	-170.3	3.4	-3.7	11	132	8.65	1.12	-30.17	0.000	4	0.223	0.065	2170	3299	3565	0	0	0	0	0	0
234	-0.60	-170.3	44.6	-28.2	37	241	0.00	1.05	0.00	0.000	6	0.000	0.025	2169	2568	3563	0	0	0	0	0	0
580	-0.60	-170.3	125.9	-16.2	98	587	0.00	1.12	0.00	0.000	4	0.000	0.039	2164	3295	3560	0	0	0	0	0	0
668	-0.60	-170.3	140.0	-16.7	113	675	0.00	1.00	0.00	0.000	6	0.000	0.024	2164	2593	3559	0	0	0	0	0	0
1014	-0.60	-170.3	190.7	-13.1	174	1022	0.00	1.12	0.00	0.000	4	0.000	0.040	2159	3306	3559	0	0	0	0	0	0
1080	-0.60	-170.3	199.1	-12.2	185	1086	0.00	1.02	0.00	0.000	6	0.000	0.024	2159	2589	3559	0	0	0	0	0	0
1413	-0.60	-170.3	239.3	-11.4	217	1417	0.00	0.95	0.00	0.000	4	0.000	0.026	2159	1892	3560	0	0	0	0	0	0
1493	-0.60	-170.3	248.1	-10.8	224	1496	0.00	1.08	0.00	0.000	6	0.000	0.035	2154	2599	3560	0	0	0	0	0	0
1825	-0.60	-170.3	288.1	-12.2	255	1828	0.00	1.00	0.00	0.000	4	0.000	0.026	2153	1886	3559	0	0	0	0	0	0
1920	-0.60	-170.3	300.0	-11.9	263	1926	0.00	1.08	0.00	0.000	6	0.000	0.037	2149	2588	3559	0	0	0	0	0	0
2247	-0.60	-170.3	332.2	-8.3	294	2251	0.12	1.00	0.00	0.000	4	0.155	0.028	2183	1899	3557	0	0	0	0	0	0
2330	-0.60	-170.3	337.9	-6.4	301	2337	0.00	1.05	0.00	0.000	6	0.000	0.034	2180	2591	3556	0	0	0	0	0	0
2656	-0.60	-170.3	365.2	-9.5	332	2659	0.00	1.00	0.00	0.000	4	0.000	0.028	2180	1893	3553	0	0	0	0	0	0
2717	-0.60	-170.3	371.0	-9.1	337	2724	0.00	1.08	0.00	0.000	6	0.000	0.038	2179	2589	3553	0	0	0	0	0	0
3044	-0.60	-170.3	400.3	-9.1	368	3047	0.00	1.08	0.00	0.000	4	0.000	0.043	2179	3289	3550	0	0	0	0	0	0
3083	-0.60	-170.3	404.3	-9.6	371	3089	0.00	1.02	0.00	0.000	6	0.000	0.027	2179	2586	3549	0	0	0	0	0	0
3408	-0.60	-170.3	431.4	-7.7	402	3412	0.00	0.98	0.00	0.000	4	0.000	0.028	2179	1899	3546	0	0	0	0	0	0
3469	-0.60	-170.3	435.9	-7.4	407	3476	0.00	1.08	0.00	0.000	6	0.000	0.038	2179	2591	3545	0	0	0	0	0	0
3795	-0.60	-170.3	456.8	-6.5	438	3799	0.00	1.10	0.00	0.000	4	0.000	0.044	2179	3287	3542	0	0	0	0	0	0
3835	-0.60	-170.3	459.8	-7.1	441	3842	0.00	1.02	0.00	0.000	6	0.000	0.027	2179	2590	3542	0	0	0	0	0	0
4161	-0.60	-170.3	483.5	-7.0	472	4164	0.00	1.02	0.00	0.000	4	0.000	0.031	2179	1889	3539	0	0	0	0	0	0
4242	-0.60	-170.3	489.0	-6.7	479	4246	0.00	1.10	0.00	0.000	6	0.000	0.040	2178	2593	3538	0	0	0	0	0	0
4571	-0.60	-170.3	507.6	-4.6	503	4574	0.00	1.08	0.00	0.000	4	0.000	0.045	2179	3289	3535	0	0	0	0	0	0
4618	-0.60	-170.3	510.0	-4.8	505	4622	0.00	1.02	0.00	0.000	6	0.000	0.028	2179	2611	3534	0	0	0	0	0	0
4952	-0.60	-170.3	531.9	-6.9	521	4956	0.00	1.05	0.00	0.000	4	0.000	0.031	2178	1880	3532	0	0	0	0	0	0
5002	-0.60	-170.3	536.1	-7.8	523	5006	0.00	1.10	0.00	0.000	6	0.000	0.040	2179	2584	3532	0	0	0	0	0	0
5331	-0.60	-170.3	563.1	-8.0	539	5335	0.00	1.05	0.00	0.000	4	0.000	0.031	2179	1874	3529	0	0	0	0	0	0
5445	-0.60	-170.3	572.8	-8.4	544	5449	0.00	1.12	0.00	0.000	6	0.000	0.041	2179	2588	3529	0	0	0	0	0	0
5779	-0.60	-170.3	598.6	-8.2	560	5783	0.00	1.05	0.00	0.000	4	0.000	0.031	2179	1879	3526	0	0	0	0	0	0
5813	-0.60	-170.3	601.8	-8.4	561	5816	0.00	1.12	0.00	0.000	6	0.000	0.040	2178	2593	3525	0	0	0	0	0	0
6135	-0.60	-170.3	628.7	-8.4	577	6138	0.00	1.05	0.00	0.000	4	0.000	0.031	2178	1882	3523	0	0	0	0	0	0
6253	-0.60	-170.3	638.2	-7.8	582	6257	0.00	1.12	0.00	0.000	6	0.000	0.040	2178	2598	3523	0	0	0	0	0	0
6581	-0.60	-170.3	666.1	-8.4	598	6584	0.00	1.08	0.00	0.000	4	0.000	0.047	2178	3285	3521	0	0	0	0	0	0
6660	-0.60	-170.3	673.5	-9.2	601	6664	0.00	1.08	0.00	0.000	6	0.000	0.029	2179	2577	3520	0	0	0	0	0	0
6814	end dive: TARGET_DEPTH_EXCEEDED
state	6814	begin apogee
6821	-0.19	0.0	685.2	7.3	609	6953	0.38	0.00	124.60	0.859	6	0.091	0.000	2312	2152	2868	0	0	0	0	0	0
6954	end apogee: CONTROL_FINISHED_OK
state	6954	begin climb
6957	0.60	170.3	692.2	0.0	615	7102	0.68	1.10	131.82	0.845	4	0.045	0.034	2593	1466	2173	0	0	0	0	0	0
7354	0.60	170.3	658.1	13.0	633	7358	0.00	1.10	0.00	0.000	6	0.000	0.034	2594	2172	2170	0	0	0	0	0	0
7682	0.60	170.3	617.7	12.6	649	7686	0.00	1.08	0.00	0.000	4	0.000	0.035	2598	1464	2170	0	0	0	0	0	0
7818	0.60	170.3	601.9	11.6	655	7822	0.00	1.08	0.00	0.000	6	0.000	0.035	2598	2159	2169	0	0	0	0	0	0
8152	0.60	170.3	564.8	11.7	671	8156	0.00	1.05	0.00	0.000	4	0.000	0.035	2603	1467	2168	0	0	0	0	0	0
8333	0.60	170.3	545.2	10.6	679	8337	0.10	1.08	0.00	0.000	6	0.151	0.036	2573	2161	2168	0	0	0	0	0	0
8667	0.69	237.0	516.8	7.6	695	8723	0.00	1.12	50.25	0.748	4	0.000	0.041	2573	2860	1903	0	0	0	0	0	0
8765	0.72	269.0	508.0	9.0	699	8798	0.00	1.08	25.77	0.708	6	0.000	0.031	2575	2166	1771	0	0	0	0	0	0
9114	0.74	281.7	474.5	9.8	728	9130	0.12	1.05	11.48	0.661	4	0.090	0.034	2640	1458	1719	0	0	0	0	0	0
9267	0.74	281.7	454.5	13.6	741	9271	0.00	1.10	0.00	0.000	6	0.000	0.036	2640	2161	1718	0	0	0	0	0	0
9598	0.74	281.7	410.4	12.5	772	9599	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2162	1718	0	0	0	0	0	0
9919	0.74	281.7	372.4	11.5	802	9922	0.00	1.05	0.00	0.000	4	0.000	0.035	2644	1470	1717	0	0	0	0	0	0
10038	0.74	281.7	357.7	12.4	812	10045	0.08	1.08	0.00	0.000	6	0.157	0.036	2620	2162	1717	0	0	0	0	0	0
10365	0.74	281.7	318.5	11.9	843	10366	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2162	1717	0	0	0	0	0	0
10683	0.74	281.7	281.9	10.9	873	10687	0.00	1.05	0.00	0.000	4	0.000	0.034	2623	1469	1717	0	0	0	0	0	0
10839	0.74	282.1	265.6	10.3	886	10846	0.00	1.08	0.00	0.000	6	0.000	0.035	2624	2163	1717	0	0	0	0	0	0
11166	0.77	307.1	232.9	9.3	917	11192	0.00	1.12	20.12	0.572	4	0.000	0.034	2628	1458	1616	0	0	0	0	0	0
11334	0.77	307.1	213.3	12.9	932	11338	0.00	1.10	0.00	0.000	6	0.000	0.034	2628	2167	1615	0	0	0	0	0	0
11674	0.83	352.0	172.7	8.5	983	11716	0.00	1.05	34.47	0.529	4	0.000	0.037	2628	2866	1434	0	0	0	0	0	0
11758	0.92	424.1	166.5	7.4	997	11817	0.00	1.08	54.38	0.507	6	0.000	0.031	2632	2161	1140	0	0	0	0	0	0
12157	0.92	431.0	126.9	10.0	1067	12170	0.12	0.00	8.27	0.500	6	0.090	0.000	2692	2161	1111	0	0	0	0	0	0
12511	1.02	510.9	95.2	7.0	1129	12578	0.00	1.08	59.10	0.472	4	0.000	0.032	2692	2873	785	0	0	0	0	0	0
12630	1.15	613.5	88.8	6.1	1149	12701	0.10	1.08	63.90	0.443	6	0.047	0.031	2754	2172	439	0	0	0	0	0	0
13041	1.15	613.5	37.0	13.1	1221	13048	0.00	1.05	0.73	0.084	4	0.000	0.031	2754	2878	442	0	0	0	0	0	0
13123	1.15	613.5	26.1	13.6	1235	13131	0.00	1.08	0.17	0.092	6	0.000	0.030	2758	2164	442	0	0	0	0	0	0
13311	end climb: SURFACE_DEPTH_REACHED
state	13311	begin surface coast
13340	end surface coast: CONTROL_FINISHED_OK
state	13340	begin surface