Glider dive log

OKMC Mar13 * SG169 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 10 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2550 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 7

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 450 R_STBD_OVSHOOT -10 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

D_BOOST 130 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 4 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 435 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2764 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0034 DEVICE5 -1

T_MISSION 360 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -20865.168 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE 150

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 146 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3945 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 200 C_PITCH 2475 FG_AHR_10V 0 SEABIRD_T_G 0.0042608725

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061783189

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.1692709e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -154.03682 SEABIRD_T_J 2.1724361e-06

RHO 1.0275 PITCH_GAIN 35 PRESSURE_SLOPE 0.0001078585 SEABIRD_C_G -10.034778

MASS 52063 PITCH_TIMEOUT 16 AD7714Ch0Gain 1 SEABIRD_C_H 1.1503564

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019294197

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002327933

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 220 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.8500004e-06 ROLL_MAX 3795 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 165 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 35 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3945 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FG_AHR_10V 0 PITCH_MIN 146 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0034 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001078585 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_YINT -154.03682 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 PROTOCOL 9 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -20865.168

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE 150 ID 169 RELAUNCH 1 T_MISSION 360

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -1.1 ROLL_ADJ_DBAND 0 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2475 LOGGERDEVICE1 53 ROLL_AD_RATE 250 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2764 LOGGERDEVICE4 -1 ROLL_MAX 3795 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -6

DEEPGLIDER 0 MASS 52063 ROLL_MIN 220 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT -10 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT -10 VBD_DBAND 2

DEVICE3 -1 MISSION 8 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 435

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.034778 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 10 N_DIVES 0 SEABIRD_C_H 1.1503564 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 1020 N_FILEKB 4 SEABIRD_C_I -0.0019294197 VBD_TIMEOUT 720

D_BOOST 130 N_GPS 20 SEABIRD_C_J 0.0002327933 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0042608725 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00061783189 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.1692709e-05 XPDR_VALID 4

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.1724361e-06

Pre-dive calculations and measurements:

GPS1 180313,230524,1854.192,12435.944,44,1.3,44,-2.2 TGT_NAME S3

_CALLS 1 TGT_LATLONG 1750.000,12435.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,231636,1854.223,12435.964,35,1.2,35,-2.2 MHEAD_RNG_PITCHd_Wd 198.0,118953,-15.7,-10.000,-18.68,2978

SPEED_LIMITS 0.173,0.296 D_GRID 5552

Post-dive calculations and measurements:

FINISH -0.2,1.022491 _10V_AH 10.1,1.281

SM_CCo 8776,136.95,0.503,1,0,928,450.13 FG_AHR_24Vo 0.000

SM_GC 0.65,6.80,0.12,136.95,0.033,0.085,0.503,137,2646,928,-7.24,-0.23,450.13,0,0,0,0,1,0,26.71,26.74,25.10 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1846.42,12428.17,180313,181846 MEM 329140

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 13478,402

HUMID 43.58 CAP_FILE_SIZE 261401,0

INTERNAL_PRESSURE 9.36915 CFSIZE 260034560,254517248

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.014,129.3,1

SC_FREEKB 4015520 GPS 190313,014625,1853.406,12436.731,10,1.7,11,-2.2

_24V_AH 24.0,1.899

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 231 94.29 nil 0 0 0.00

Roll_motor 83 96 193.63 nil 0 0 0.00

VBD_pump_during_apogee 357 1001 8593.08 nil 0 0 0.00

VBD_pump_during_surface 136 502 1651.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8839 7 1549.65

Iridium_during_xfer 389 123 1152.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 32 11.95

TT8 2190 14 314.35

LPSleep 4452 2 98.49

TT8_Active 583 14 83.69

TT8_Sampling 1931 40 788.78

TT8_CF8 402 47 195.00

TT8_Kalman 0 0 0.00

Analog_circuits 1751 12 212.26

GPS_charging 0 0 0.00

Compass 1411 8 117.48

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.11 -194.6 122 2625 1071 802 0.0 0.0 0 107 0.00 0.00 -82.03 0.000 16386 0.000 0.000 122 2625 3031 2952 3110 0 0 0 0 0 0 28.83 28.83 28.83

111 -1.11 -194.6 121 2626 2953 3111 3.2 -5.9 11 136 7.82 2.85 -9.62 0.000 18948 0.232 0.053 2112 1154 3561 3426 3696 0 0 0 0 0 0 25.93 26.14 26.44

217 -1.11 -194.6 2112 1155 3429 3696 52.9 -39.4 22 222 0.00 2.75 0.00 0.000 1030 0.000 0.041 2099 2619 3562 3429 3696 0 0 0 0 0 0 28.83 26.23 28.83

543 -1.11 -194.6 2099 2617 3429 3696 189.0 -34.7 38 549 0.00 1.80 0.00 0.000 260 0.000 0.052 2090 3823 3563 3430 3696 0 0 0 0 0 0 28.83 26.41 28.83

685 -1.11 -194.6 2090 3823 3430 3696 230.4 -31.0 44 693 0.00 1.83 0.00 0.000 1030 0.000 0.031 2090 2573 3563 3430 3696 0 0 0 0 0 0 28.83 26.52 28.83

992 -1.11 -194.6 2090 2572 3432 3696 326.0 -27.8 60 997 0.00 2.58 0.00 0.000 516 0.000 0.037 2090 1153 3564 3433 3696 0 0 0 0 0 0 28.83 26.55 28.83

1164 -1.11 -194.6 2090 1153 3432 3695 367.1 -23.2 68 1170 0.12 2.70 0.00 0.000 3078 0.175 0.040 2118 2620 3564 3432 3696 0 0 0 0 0 0 26.48 26.59 28.83

1491 -1.11 -194.6 2117 2621 3432 3695 434.1 -18.7 84 1498 0.00 2.67 0.00 0.000 516 0.000 0.034 2118 1154 3564 3433 3695 0 0 0 0 0 0 28.83 26.63 28.83

1654 -1.11 -194.6 2118 1155 3436 3695 461.8 -18.1 91 1662 0.00 2.67 0.00 0.000 1030 0.000 0.038 2114 2618 3563 3432 3694 0 0 0 0 0 0 28.83 26.65 28.83

1961 -1.11 -194.6 2114 2617 3432 3690 524.4 -19.1 107 1967 0.00 2.67 0.00 0.000 516 0.000 0.035 2114 1148 3561 3432 3690 0 0 0 0 0 0 28.83 26.67 28.83

2159 -1.11 -194.6 2114 1149 3432 3687 558.3 -17.6 116 2165 0.00 2.67 0.00 0.000 1030 0.000 0.042 2109 2617 3559 3432 3686 0 0 0 0 0 0 28.83 26.68 28.83

2495 -1.11 -194.6 2108 2615 3432 3681 621.8 -18.2 131 2501 0.00 2.65 0.00 0.000 516 0.000 0.034 2109 1153 3556 3432 3681 0 0 0 0 0 0 28.83 26.70 28.83

2711 -1.11 -194.6 2108 1153 3432 3676 655.1 -17.5 137 2719 0.00 2.65 0.00 0.000 1030 0.000 0.038 2100 2618 3554 3432 3676 0 0 0 0 0 0 28.83 26.71 28.83

3018 -1.11 -194.6 2100 2617 3432 3670 715.8 -18.1 148 3024 0.00 2.67 0.00 0.000 516 0.000 0.035 2100 1142 3550 3432 3669 0 0 0 0 0 0 28.83 26.72 28.83

3187 -1.11 -194.6 2099 1141 3432 3667 742.1 -15.9 153 3192 0.00 2.67 0.00 0.000 1030 0.000 0.042 2091 2613 3548 3431 3666 0 0 0 0 0 0 28.83 26.72 28.83

3512 -1.11 -194.6 2091 2610 3432 3661 799.0 -17.0 164 3518 0.00 2.65 0.00 0.000 516 0.000 0.036 2091 1156 3546 3431 3661 0 0 0 0 0 0 28.83 26.72 28.83

3658 -1.11 -194.6 2091 1156 3432 3658 820.4 -16.7 168 3665 0.12 2.67 0.00 0.000 3078 0.169 0.041 2120 2614 3544 3431 3658 0 0 0 0 0 0 26.63 26.72 28.83

3977 -1.11 -194.6 2120 2613 3432 3652 871.3 -15.1 179 3982 0.00 2.65 0.00 0.000 516 0.000 0.034 2124 1154 3541 3431 3651 0 0 0 0 0 0 28.83 26.73 28.83

4150 -1.11 -194.6 2117 1153 3434 3650 894.9 -14.7 184 4157 0.00 2.65 0.00 0.000 1030 0.000 0.039 2114 2614 3540 3432 3649 0 0 0 0 0 0 28.83 26.73 28.83

4472 -1.11 -194.6 2113 2612 3428 3647 948.6 -15.8 195 4477 0.00 2.67 0.00 0.000 516 0.000 0.034 2114 1136 3537 3428 3647 0 0 0 0 0 0 28.83 26.74 28.83

4613 -1.11 -194.6 2114 1136 3428 3645 967.6 -14.9 199 4620 0.00 2.67 0.00 0.000 1030 0.000 0.041 2112 2612 3535 3427 3644 0 0 0 0 0 0 28.83 26.74 28.83

4751 end dive: TARGET_DEPTH_EXCEEDED

state 4751 begin apogee

4758 -0.14 0.0 2111 2527 3426 3644 992.1 -16.0 204 4947 0.90 0.10 178.68 0.966 10246 0.116 0.096 2421 2567 2755 2792 2719 0 0 0 0 0 0 26.64 24.76 24.15

4949 end apogee: CONTROL_FINISHED_OK

state 4949 begin climb

4952 1.11 194.6 2421 2567 2789 2713 1001.7 0.0 209 5143 1.05 2.83 178.88 1.001 10756 0.022 0.027 2875 1087 1955 2058 1852 0 0 0 0 0 0 25.08 24.76 24.05

5259 1.11 194.6 2876 1085 2041 1840 932.6 34.8 220 5266 0.12 2.65 0.00 0.000 5126 0.225 0.031 2838 2562 1940 2041 1840 0 0 0 0 0 0 25.46 25.64 28.83

5580 1.11 194.6 2838 2560 2036 1839 818.6 33.0 231 5586 0.00 1.98 0.00 0.000 260 0.000 0.043 2828 3843 1936 2035 1838 0 0 0 0 0 0 28.83 26.13 28.83

5802 1.11 194.6 2828 3843 2031 1838 737.3 37.1 238 5808 0.00 1.98 0.00 0.000 1030 0.000 0.019 2838 2518 1934 2031 1838 0 0 0 0 0 0 28.83 26.34 28.83

6137 1.11 194.6 2839 2516 2029 1837 624.2 33.5 249 6143 0.00 2.10 0.00 0.000 260 0.000 0.044 2829 3836 1933 2030 1837 0 0 0 0 0 0 28.83 26.41 28.83

6381 1.11 194.6 2828 3836 2027 1837 540.8 34.7 259 6387 0.00 1.92 0.00 0.000 1030 0.000 0.021 2839 2516 1931 2026 1837 0 0 0 0 0 0 28.83 26.54 28.83

6696 1.11 194.6 2839 2514 2027 1835 443.2 28.1 275 6703 0.00 2.08 0.00 0.000 260 0.000 0.042 2829 3832 1931 2026 1836 0 0 0 0 0 0 28.83 26.53 28.83

6936 1.11 194.6 2829 3832 2025 1835 368.7 31.1 286 6942 0.00 1.90 0.00 0.000 1030 0.000 0.020 2838 2523 1930 2025 1836 0 0 0 0 0 0 28.83 26.62 28.83

7251 1.11 194.6 2839 2522 2024 1834 281.1 25.2 302 7257 0.00 2.45 0.00 0.000 516 0.000 0.028 2851 1072 1929 2024 1834 0 0 0 0 0 0 28.83 26.61 28.83

7465 1.11 194.6 2851 1072 2022 1833 229.7 24.8 312 7472 0.00 2.60 0.00 0.000 1030 0.000 0.031 2849 2564 1927 2022 1833 0 0 0 0 0 0 28.83 26.64 28.83

7788 1.11 194.6 2849 2563 2022 1832 156.5 19.7 328 7794 0.00 1.90 0.00 0.000 260 0.000 0.042 2839 3850 1927 2022 1832 0 0 0 0 0 0 28.83 26.65 28.83

8028 1.11 194.6 2839 3851 2022 1832 116.9 14.8 339 8035 0.00 1.95 0.00 0.000 1030 0.000 0.019 2849 2516 1927 2023 1832 0 0 0 0 0 0 28.83 26.72 28.83

8344 1.11 194.6 2850 2514 2022 1833 64.7 16.1 355 8350 0.00 2.40 0.00 0.000 516 0.000 0.028 2862 1081 1927 2022 1833 0 0 0 0 0 0 28.83 26.71 28.83

8593 1.11 194.6 2862 1082 2022 1834 27.5 15.9 373 8599 0.00 2.58 0.00 0.000 1030 0.000 0.028 2859 2567 1928 2022 1834 0 0 0 0 0 0 28.83 26.74 28.83

8738 end climb: SURFACE_DEPTH_REACHED

state 8738 begin surface coast

8758 end surface coast: CONTROL_FINISHED_OK

state 8758 begin surface

ID	169	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	10	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2550	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	7
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	450	R_STBD_OVSHOOT	-10	XPDR_VALID	4
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
D_BOOST	130	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	4	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	435	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2764	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0034	DEVICE5	-1
T_MISSION	360	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-20865.168	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	150
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	146	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3945	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	200	C_PITCH	2475	FG_AHR_10V	0	SEABIRD_T_G	0.0042608725
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061783189
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.1692709e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-154.03682	SEABIRD_T_J	2.1724361e-06
RHO	1.0275	PITCH_GAIN	35	PRESSURE_SLOPE	0.0001078585	SEABIRD_C_G	-10.034778
MASS	52063	PITCH_TIMEOUT	16	AD7714Ch0Gain	1	SEABIRD_C_H	1.1503564
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019294197
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002327933
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	220	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.8500004e-06	ROLL_MAX	3795	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	180313,230524,1854.192,12435.944,44,1.3,44,-2.2	TGT_NAME	S3
_CALLS	1	TGT_LATLONG	1750.000,12435.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,231636,1854.223,12435.964,35,1.2,35,-2.2	MHEAD_RNG_PITCHd_Wd	198.0,118953,-15.7,-10.000,-18.68,2978
SPEED_LIMITS	0.173,0.296	D_GRID	5552

FINISH	-0.2,1.022491	_10V_AH	10.1,1.281
SM_CCo	8776,136.95,0.503,1,0,928,450.13	FG_AHR_24Vo	0.000
SM_GC	0.65,6.80,0.12,136.95,0.033,0.085,0.503,137,2646,928,-7.24,-0.23,450.13,0,0,0,0,1,0,26.71,26.74,25.10	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1846.42,12428.17,180313,181846	MEM	329140
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	13478,402
HUMID	43.58	CAP_FILE_SIZE	261401,0
INTERNAL_PRESSURE	9.36915	CFSIZE	260034560,254517248
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.014,129.3,1
SC_FREEKB	4015520	GPS	190313,014625,1853.406,12436.731,10,1.7,11,-2.2
_24V_AH	24.0,1.899

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	231	94.29	nil	0	0	0.00
Roll_motor	83	96	193.63	nil	0	0	0.00
VBD_pump_during_apogee	357	1001	8593.08	nil	0	0	0.00
VBD_pump_during_surface	136	502	1651.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8839	7	1549.65
Iridium_during_xfer	389	123	1152.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	32	11.95
TT8	2190	14	314.35
LPSleep	4452	2	98.49
TT8_Active	583	14	83.69
TT8_Sampling	1931	40	788.78
TT8_CF8	402	47	195.00
TT8_Kalman	0	0	0.00
Analog_circuits	1751	12	212.26
GPS_charging	0	0	0.00
Compass	1411	8	117.48
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.11	-194.6	122	2625	1071	802	0.0	0.0	0	107	0.00	0.00	-82.03	0.000	16386	0.000	0.000	122	2625	3031	2952	3110	0	0	0	0	0	0	28.83	28.83	28.83
111	-1.11	-194.6	121	2626	2953	3111	3.2	-5.9	11	136	7.82	2.85	-9.62	0.000	18948	0.232	0.053	2112	1154	3561	3426	3696	0	0	0	0	0	0	25.93	26.14	26.44
217	-1.11	-194.6	2112	1155	3429	3696	52.9	-39.4	22	222	0.00	2.75	0.00	0.000	1030	0.000	0.041	2099	2619	3562	3429	3696	0	0	0	0	0	0	28.83	26.23	28.83
543	-1.11	-194.6	2099	2617	3429	3696	189.0	-34.7	38	549	0.00	1.80	0.00	0.000	260	0.000	0.052	2090	3823	3563	3430	3696	0	0	0	0	0	0	28.83	26.41	28.83
685	-1.11	-194.6	2090	3823	3430	3696	230.4	-31.0	44	693	0.00	1.83	0.00	0.000	1030	0.000	0.031	2090	2573	3563	3430	3696	0	0	0	0	0	0	28.83	26.52	28.83
992	-1.11	-194.6	2090	2572	3432	3696	326.0	-27.8	60	997	0.00	2.58	0.00	0.000	516	0.000	0.037	2090	1153	3564	3433	3696	0	0	0	0	0	0	28.83	26.55	28.83
1164	-1.11	-194.6	2090	1153	3432	3695	367.1	-23.2	68	1170	0.12	2.70	0.00	0.000	3078	0.175	0.040	2118	2620	3564	3432	3696	0	0	0	0	0	0	26.48	26.59	28.83
1491	-1.11	-194.6	2117	2621	3432	3695	434.1	-18.7	84	1498	0.00	2.67	0.00	0.000	516	0.000	0.034	2118	1154	3564	3433	3695	0	0	0	0	0	0	28.83	26.63	28.83
1654	-1.11	-194.6	2118	1155	3436	3695	461.8	-18.1	91	1662	0.00	2.67	0.00	0.000	1030	0.000	0.038	2114	2618	3563	3432	3694	0	0	0	0	0	0	28.83	26.65	28.83
1961	-1.11	-194.6	2114	2617	3432	3690	524.4	-19.1	107	1967	0.00	2.67	0.00	0.000	516	0.000	0.035	2114	1148	3561	3432	3690	0	0	0	0	0	0	28.83	26.67	28.83
2159	-1.11	-194.6	2114	1149	3432	3687	558.3	-17.6	116	2165	0.00	2.67	0.00	0.000	1030	0.000	0.042	2109	2617	3559	3432	3686	0	0	0	0	0	0	28.83	26.68	28.83
2495	-1.11	-194.6	2108	2615	3432	3681	621.8	-18.2	131	2501	0.00	2.65	0.00	0.000	516	0.000	0.034	2109	1153	3556	3432	3681	0	0	0	0	0	0	28.83	26.70	28.83
2711	-1.11	-194.6	2108	1153	3432	3676	655.1	-17.5	137	2719	0.00	2.65	0.00	0.000	1030	0.000	0.038	2100	2618	3554	3432	3676	0	0	0	0	0	0	28.83	26.71	28.83
3018	-1.11	-194.6	2100	2617	3432	3670	715.8	-18.1	148	3024	0.00	2.67	0.00	0.000	516	0.000	0.035	2100	1142	3550	3432	3669	0	0	0	0	0	0	28.83	26.72	28.83
3187	-1.11	-194.6	2099	1141	3432	3667	742.1	-15.9	153	3192	0.00	2.67	0.00	0.000	1030	0.000	0.042	2091	2613	3548	3431	3666	0	0	0	0	0	0	28.83	26.72	28.83
3512	-1.11	-194.6	2091	2610	3432	3661	799.0	-17.0	164	3518	0.00	2.65	0.00	0.000	516	0.000	0.036	2091	1156	3546	3431	3661	0	0	0	0	0	0	28.83	26.72	28.83
3658	-1.11	-194.6	2091	1156	3432	3658	820.4	-16.7	168	3665	0.12	2.67	0.00	0.000	3078	0.169	0.041	2120	2614	3544	3431	3658	0	0	0	0	0	0	26.63	26.72	28.83
3977	-1.11	-194.6	2120	2613	3432	3652	871.3	-15.1	179	3982	0.00	2.65	0.00	0.000	516	0.000	0.034	2124	1154	3541	3431	3651	0	0	0	0	0	0	28.83	26.73	28.83
4150	-1.11	-194.6	2117	1153	3434	3650	894.9	-14.7	184	4157	0.00	2.65	0.00	0.000	1030	0.000	0.039	2114	2614	3540	3432	3649	0	0	0	0	0	0	28.83	26.73	28.83
4472	-1.11	-194.6	2113	2612	3428	3647	948.6	-15.8	195	4477	0.00	2.67	0.00	0.000	516	0.000	0.034	2114	1136	3537	3428	3647	0	0	0	0	0	0	28.83	26.74	28.83
4613	-1.11	-194.6	2114	1136	3428	3645	967.6	-14.9	199	4620	0.00	2.67	0.00	0.000	1030	0.000	0.041	2112	2612	3535	3427	3644	0	0	0	0	0	0	28.83	26.74	28.83
4751	end dive: TARGET_DEPTH_EXCEEDED
state	4751	begin apogee
4758	-0.14	0.0	2111	2527	3426	3644	992.1	-16.0	204	4947	0.90	0.10	178.68	0.966	10246	0.116	0.096	2421	2567	2755	2792	2719	0	0	0	0	0	0	26.64	24.76	24.15
4949	end apogee: CONTROL_FINISHED_OK
state	4949	begin climb
4952	1.11	194.6	2421	2567	2789	2713	1001.7	0.0	209	5143	1.05	2.83	178.88	1.001	10756	0.022	0.027	2875	1087	1955	2058	1852	0	0	0	0	0	0	25.08	24.76	24.05
5259	1.11	194.6	2876	1085	2041	1840	932.6	34.8	220	5266	0.12	2.65	0.00	0.000	5126	0.225	0.031	2838	2562	1940	2041	1840	0	0	0	0	0	0	25.46	25.64	28.83
5580	1.11	194.6	2838	2560	2036	1839	818.6	33.0	231	5586	0.00	1.98	0.00	0.000	260	0.000	0.043	2828	3843	1936	2035	1838	0	0	0	0	0	0	28.83	26.13	28.83
5802	1.11	194.6	2828	3843	2031	1838	737.3	37.1	238	5808	0.00	1.98	0.00	0.000	1030	0.000	0.019	2838	2518	1934	2031	1838	0	0	0	0	0	0	28.83	26.34	28.83
6137	1.11	194.6	2839	2516	2029	1837	624.2	33.5	249	6143	0.00	2.10	0.00	0.000	260	0.000	0.044	2829	3836	1933	2030	1837	0	0	0	0	0	0	28.83	26.41	28.83
6381	1.11	194.6	2828	3836	2027	1837	540.8	34.7	259	6387	0.00	1.92	0.00	0.000	1030	0.000	0.021	2839	2516	1931	2026	1837	0	0	0	0	0	0	28.83	26.54	28.83
6696	1.11	194.6	2839	2514	2027	1835	443.2	28.1	275	6703	0.00	2.08	0.00	0.000	260	0.000	0.042	2829	3832	1931	2026	1836	0	0	0	0	0	0	28.83	26.53	28.83
6936	1.11	194.6	2829	3832	2025	1835	368.7	31.1	286	6942	0.00	1.90	0.00	0.000	1030	0.000	0.020	2838	2523	1930	2025	1836	0	0	0	0	0	0	28.83	26.62	28.83
7251	1.11	194.6	2839	2522	2024	1834	281.1	25.2	302	7257	0.00	2.45	0.00	0.000	516	0.000	0.028	2851	1072	1929	2024	1834	0	0	0	0	0	0	28.83	26.61	28.83
7465	1.11	194.6	2851	1072	2022	1833	229.7	24.8	312	7472	0.00	2.60	0.00	0.000	1030	0.000	0.031	2849	2564	1927	2022	1833	0	0	0	0	0	0	28.83	26.64	28.83
7788	1.11	194.6	2849	2563	2022	1832	156.5	19.7	328	7794	0.00	1.90	0.00	0.000	260	0.000	0.042	2839	3850	1927	2022	1832	0	0	0	0	0	0	28.83	26.65	28.83
8028	1.11	194.6	2839	3851	2022	1832	116.9	14.8	339	8035	0.00	1.95	0.00	0.000	1030	0.000	0.019	2849	2516	1927	2023	1832	0	0	0	0	0	0	28.83	26.72	28.83
8344	1.11	194.6	2850	2514	2022	1833	64.7	16.1	355	8350	0.00	2.40	0.00	0.000	516	0.000	0.028	2862	1081	1927	2022	1833	0	0	0	0	0	0	28.83	26.71	28.83
8593	1.11	194.6	2862	1082	2022	1834	27.5	15.9	373	8599	0.00	2.58	0.00	0.000	1030	0.000	0.028	2859	2567	1928	2022	1834	0	0	0	0	0	0	28.83	26.74	28.83
8738	end climb: SURFACE_DEPTH_REACHED
state	8738	begin surface coast
8758	end surface coast: CONTROL_FINISHED_OK
state	8758	begin surface