Glider dive log

OKMC Mar13 * SG169 * Dive index * Mission links * Dive 14 * 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 14 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2560 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 0.0024999999 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 -20870.477 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 2430 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 27 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 27 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 0.0024999999 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 -20870.477

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 2430 LOGGERDEVICE1 53 ROLL_AD_RATE 250 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2560 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 14 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 190313,094312,1850.490,12440.313,12,1.6,29,-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 0.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,095131,1850.517,12440.336,16,1.6,16,-2.2 MHEAD_RNG_PITCHd_Wd 197.5,112471,-15.7,-10.000,-18.68,2978

SPEED_LIMITS 0.173,0.296 D_GRID 5518

Post-dive calculations and measurements:

FINISH -0.2,1.022429 _10V_AH 10.3,1.550

SM_CCo 8685,142.68,0.500,1,0,927,450.13 FG_AHR_24Vo 0.000

SM_GC 0.58,6.60,0.28,142.68,0.033,0.059,0.500,126,2630,927,-7.12,-0.42,450.13,0,0,0,0,1,0,26.76,26.77,25.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1844.15,12441.42,190313,070755 MEM 329168

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 13474,405

HUMID 42.71 CAP_FILE_SIZE 262617,0

INTERNAL_PRESSURE 9.38868 CFSIZE 260034560,254058496

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.058,207.8,1

SC_FREEKB 4013728 GPS 190313,122029,1849.689,12441.328,38,1.0,43,-2.2

_24V_AH 24.1,2.421

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 234 94.21 nil 0 0 0.00

Roll_motor 72 82 143.51 nil 0 0 0.00

VBD_pump_during_apogee 413 992 9887.52 nil 0 0 0.00

VBD_pump_during_surface 142 500 1720.30 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 8709 7 1517.90

Iridium_during_xfer 290 120 839.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 32 5.88

TT8 2209 14 323.46

LPSleep 4287 2 96.72

TT8_Active 625 14 91.55

TT8_Sampling 1813 40 755.05

TT8_CF8 384 47 189.55

TT8_Kalman 0 0 0.00

Analog_circuits 1704 12 210.66

GPS_charging 0 0 0.00

Compass 1436 8 121.93

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

23 -1.07 -194.6 133 2571 1078 782 0.0 0.0 0 107 0.00 0.00 -81.90 0.000 16386 0.000 0.000 130 2572 3032 2955 3110 0 0 0 0 0 0 28.83 28.83 28.83

111 -1.07 -194.6 130 2572 2955 3111 3.3 -6.9 11 136 7.70 2.05 -9.43 0.000 18692 0.234 0.064 2067 3823 3560 3424 3697 0 0 0 0 0 0 25.97 26.18 26.47

151 -1.07 -194.6 2067 3823 3425 3697 26.1 -55.1 16 158 0.00 1.85 0.00 0.000 1030 0.000 0.031 2067 2581 3561 3426 3697 0 0 0 0 0 0 28.83 26.22 28.83

469 -1.07 -194.6 2068 2579 3425 3697 178.6 -44.3 34 475 0.00 1.95 0.00 0.000 260 0.000 0.049 2058 3820 3561 3425 3697 0 0 0 0 0 0 28.83 26.42 28.83

616 -1.07 -194.6 2058 3820 3426 3697 235.6 -33.5 41 622 0.00 1.83 0.00 0.000 1030 0.000 0.032 2058 2579 3561 3426 3697 0 0 0 0 0 0 28.83 26.53 28.83

943 -1.07 -194.6 2057 2578 3431 3696 341.8 -32.8 57 949 0.00 2.60 0.00 0.000 516 0.000 0.037 2058 1141 3565 3432 3698 0 0 0 0 0 0 28.83 26.58 28.83

1183 -1.07 -194.6 2057 1141 3432 3696 405.7 -26.4 68 1190 0.15 2.72 0.00 0.000 3078 0.164 0.041 2087 2622 3563 3431 3695 0 0 0 0 0 0 26.52 26.62 28.83

1502 -1.07 -194.6 2087 2620 3431 3695 480.7 -21.8 84 1508 0.00 2.70 0.00 0.000 516 0.000 0.036 2087 1145 3563 3431 3695 0 0 0 0 0 0 28.83 26.66 28.83

1746 -1.07 -194.6 2087 1144 3432 3693 527.3 -18.8 95 1752 0.00 2.67 0.00 0.000 1030 0.000 0.041 2076 2615 3561 3431 3692 0 0 0 0 0 0 28.83 26.68 28.83

2061 -1.07 -194.6 2076 2614 3431 3688 594.1 -20.6 111 2067 0.00 2.62 0.00 0.000 516 0.000 0.034 2076 1154 3558 3431 3685 0 0 0 0 0 0 28.83 26.70 28.83

2300 -1.07 -194.6 1280 1153 3421 3682 638.1 -20.3 119 2306 0.00 2.67 0.00 0.000 1030 0.000 0.038 2073 2615 3557 3431 3683 0 0 0 0 0 0 28.83 26.71 28.83

2617 -1.07 -194.6 2073 2614 3431 3676 708.6 -21.0 130 2623 0.00 2.62 0.00 0.000 516 0.000 0.032 2074 1151 3553 3431 3676 0 0 0 0 0 0 28.83 26.72 28.83

2857 -1.07 -194.6 2073 1151 3431 3672 752.1 -18.9 137 2864 0.00 2.65 0.00 0.000 1030 0.000 0.038 2062 2614 3550 3431 3670 0 0 0 0 0 0 28.83 26.72 28.83

3175 -1.07 -194.6 2061 2613 3431 3665 817.4 -19.1 148 3182 0.00 2.62 0.00 0.000 516 0.000 0.034 2061 1153 3548 3432 3664 0 0 0 0 0 0 28.83 26.74 28.83

3414 -1.07 -194.6 2061 1153 3431 3661 858.6 -18.8 155 3421 0.12 2.67 0.00 0.000 3078 0.158 0.037 2084 2617 3546 3431 3661 0 0 0 0 0 0 26.65 26.74 28.83

3730 -1.07 -194.6 2084 2616 3431 3655 917.3 -17.3 166 3737 0.00 2.65 0.00 0.000 516 0.000 0.033 2084 1144 3542 3431 3654 0 0 0 0 0 0 28.83 26.74 28.83

3932 -1.07 -194.6 2084 1144 3431 3651 948.0 -16.3 172 3938 0.00 2.70 0.00 0.000 1030 0.000 0.041 2073 2610 3540 3431 3650 0 0 0 0 0 0 28.83 26.74 28.83

4160 end dive: TARGET_DEPTH_EXCEEDED

state 4160 begin apogee

4166 -0.19 0.0 2073 2534 3427 3650 991.7 -17.8 180 4411 0.88 0.12 235.62 0.806 10246 0.127 0.083 2366 2580 2762 2796 2729 0 0 0 0 0 0 26.65 24.91 24.32

4413 end apogee: CONTROL_FINISHED_OK

state 4413 begin climb

4416 1.07 194.6 2366 2580 2792 2722 1000.4 0.0 187 4606 1.05 2.08 177.55 0.993 10500 0.022 0.041 2815 3835 1957 2060 1854 0 0 0 0 0 0 25.15 24.77 24.10

4833 1.07 194.6 2814 3835 2040 1850 878.3 38.7 200 4839 0.20 1.95 0.00 0.000 5126 0.226 0.019 2778 2533 1945 2040 1850 0 0 0 0 0 0 25.74 25.97 28.83

5158 1.07 194.6 2779 2532 2037 1845 772.0 30.9 211 5164 0.00 2.08 0.00 0.000 260 0.000 0.043 2769 3828 1941 2037 1845 0 0 0 0 0 0 28.83 26.24 28.83

5365 1.07 194.6 2769 3828 2035 1845 711.1 32.2 217 5371 0.00 1.90 0.00 0.000 1030 0.000 0.020 2778 2523 1940 2035 1845 0 0 0 0 0 0 28.83 26.41 28.83

5682 1.07 194.6 2779 2521 2032 1843 613.4 28.3 228 5688 0.00 2.08 0.00 0.000 260 0.000 0.041 2769 3834 1938 2033 1843 0 0 0 0 0 0 28.83 26.45 28.83

5769 1.07 194.6 2769 3834 2032 1842 586.4 30.1 231 5775 0.00 1.90 0.00 0.000 1030 0.000 0.019 2779 2520 1937 2032 1842 0 0 0 0 0 0 28.83 26.54 28.83

6096 1.07 194.6 2779 2518 2030 1841 497.8 27.1 247 6101 0.00 2.08 0.00 0.000 260 0.000 0.042 2769 3835 1939 2037 1841 0 0 0 0 0 0 28.83 26.53 28.83

6285 1.07 194.6 2769 3835 2030 1841 443.2 27.9 256 6290 0.00 1.90 0.00 0.000 1030 0.000 0.020 2779 2518 1935 2030 1840 0 0 0 0 0 0 28.83 26.64 28.83

6612 1.07 194.6 2779 2516 2029 1840 358.5 24.2 272 6618 0.00 2.05 0.00 0.000 260 0.000 0.040 2770 3832 1933 2028 1839 0 0 0 0 0 0 28.83 26.60 28.83

6857 1.07 194.6 2769 3832 2028 1839 295.9 25.2 283 6862 0.00 1.90 0.00 0.000 1030 0.000 0.019 2779 2519 1933 2027 1839 0 0 0 0 0 0 28.83 26.71 28.83

7172 1.07 194.6 2779 2517 2027 1838 221.5 23.2 299 7178 0.00 2.05 0.00 0.000 260 0.000 0.040 2770 3842 1932 2027 1838 0 0 0 0 0 0 28.83 26.66 28.83

7412 1.07 194.6 2769 3841 2027 1838 173.7 20.3 310 7418 0.00 1.88 0.00 0.000 1030 0.000 0.018 2779 2520 1932 2027 1838 0 0 0 0 0 0 28.83 26.75 28.83

7727 1.07 194.6 2780 2519 2026 1838 125.7 13.6 326 7733 0.00 2.05 0.00 0.000 260 0.000 0.038 2770 3845 1932 2027 1838 0 0 0 0 0 0 28.83 26.70 28.83

7968 1.07 194.6 2770 3845 2027 1834 94.7 13.4 337 7974 0.00 1.90 0.00 0.000 1030 0.000 0.018 2780 2514 1932 2026 1838 0 0 0 0 0 0 28.83 26.79 28.83

8284 1.07 194.6 2781 2513 2027 1839 52.6 13.1 353 8289 0.00 2.10 0.00 0.000 260 0.000 0.037 2770 3847 1933 2027 1839 0 0 0 0 0 0 28.83 26.74 28.83

8528 1.07 194.6 1744 3847 1984 1832 17.5 13.6 380 8536 0.00 1.90 0.00 0.000 1030 0.000 0.017 2780 2516 1933 2026 1840 0 0 0 0 0 0 28.83 26.82 28.83

8644 end climb: SURFACE_DEPTH_REACHED

state 8644 begin surface coast

8668 end surface coast: CONTROL_FINISHED_OK

state 8668 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	14	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2560	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	0.0024999999	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	-20870.477	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	2430	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	27	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	190313,094312,1850.490,12440.313,12,1.6,29,-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	0.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,095131,1850.517,12440.336,16,1.6,16,-2.2	MHEAD_RNG_PITCHd_Wd	197.5,112471,-15.7,-10.000,-18.68,2978
SPEED_LIMITS	0.173,0.296	D_GRID	5518

FINISH	-0.2,1.022429	_10V_AH	10.3,1.550
SM_CCo	8685,142.68,0.500,1,0,927,450.13	FG_AHR_24Vo	0.000
SM_GC	0.58,6.60,0.28,142.68,0.033,0.059,0.500,126,2630,927,-7.12,-0.42,450.13,0,0,0,0,1,0,26.76,26.77,25.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1844.15,12441.42,190313,070755	MEM	329168
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	13474,405
HUMID	42.71	CAP_FILE_SIZE	262617,0
INTERNAL_PRESSURE	9.38868	CFSIZE	260034560,254058496
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.058,207.8,1
SC_FREEKB	4013728	GPS	190313,122029,1849.689,12441.328,38,1.0,43,-2.2
_24V_AH	24.1,2.421

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	234	94.21	nil	0	0	0.00
Roll_motor	72	82	143.51	nil	0	0	0.00
VBD_pump_during_apogee	413	992	9887.52	nil	0	0	0.00
VBD_pump_during_surface	142	500	1720.30	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	8709	7	1517.90
Iridium_during_xfer	290	120	839.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	32	5.88
TT8	2209	14	323.46
LPSleep	4287	2	96.72
TT8_Active	625	14	91.55
TT8_Sampling	1813	40	755.05
TT8_CF8	384	47	189.55
TT8_Kalman	0	0	0.00
Analog_circuits	1704	12	210.66
GPS_charging	0	0	0.00
Compass	1436	8	121.93
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
23	-1.07	-194.6	133	2571	1078	782	0.0	0.0	0	107	0.00	0.00	-81.90	0.000	16386	0.000	0.000	130	2572	3032	2955	3110	0	0	0	0	0	0	28.83	28.83	28.83
111	-1.07	-194.6	130	2572	2955	3111	3.3	-6.9	11	136	7.70	2.05	-9.43	0.000	18692	0.234	0.064	2067	3823	3560	3424	3697	0	0	0	0	0	0	25.97	26.18	26.47
151	-1.07	-194.6	2067	3823	3425	3697	26.1	-55.1	16	158	0.00	1.85	0.00	0.000	1030	0.000	0.031	2067	2581	3561	3426	3697	0	0	0	0	0	0	28.83	26.22	28.83
469	-1.07	-194.6	2068	2579	3425	3697	178.6	-44.3	34	475	0.00	1.95	0.00	0.000	260	0.000	0.049	2058	3820	3561	3425	3697	0	0	0	0	0	0	28.83	26.42	28.83
616	-1.07	-194.6	2058	3820	3426	3697	235.6	-33.5	41	622	0.00	1.83	0.00	0.000	1030	0.000	0.032	2058	2579	3561	3426	3697	0	0	0	0	0	0	28.83	26.53	28.83
943	-1.07	-194.6	2057	2578	3431	3696	341.8	-32.8	57	949	0.00	2.60	0.00	0.000	516	0.000	0.037	2058	1141	3565	3432	3698	0	0	0	0	0	0	28.83	26.58	28.83
1183	-1.07	-194.6	2057	1141	3432	3696	405.7	-26.4	68	1190	0.15	2.72	0.00	0.000	3078	0.164	0.041	2087	2622	3563	3431	3695	0	0	0	0	0	0	26.52	26.62	28.83
1502	-1.07	-194.6	2087	2620	3431	3695	480.7	-21.8	84	1508	0.00	2.70	0.00	0.000	516	0.000	0.036	2087	1145	3563	3431	3695	0	0	0	0	0	0	28.83	26.66	28.83
1746	-1.07	-194.6	2087	1144	3432	3693	527.3	-18.8	95	1752	0.00	2.67	0.00	0.000	1030	0.000	0.041	2076	2615	3561	3431	3692	0	0	0	0	0	0	28.83	26.68	28.83
2061	-1.07	-194.6	2076	2614	3431	3688	594.1	-20.6	111	2067	0.00	2.62	0.00	0.000	516	0.000	0.034	2076	1154	3558	3431	3685	0	0	0	0	0	0	28.83	26.70	28.83
2300	-1.07	-194.6	1280	1153	3421	3682	638.1	-20.3	119	2306	0.00	2.67	0.00	0.000	1030	0.000	0.038	2073	2615	3557	3431	3683	0	0	0	0	0	0	28.83	26.71	28.83
2617	-1.07	-194.6	2073	2614	3431	3676	708.6	-21.0	130	2623	0.00	2.62	0.00	0.000	516	0.000	0.032	2074	1151	3553	3431	3676	0	0	0	0	0	0	28.83	26.72	28.83
2857	-1.07	-194.6	2073	1151	3431	3672	752.1	-18.9	137	2864	0.00	2.65	0.00	0.000	1030	0.000	0.038	2062	2614	3550	3431	3670	0	0	0	0	0	0	28.83	26.72	28.83
3175	-1.07	-194.6	2061	2613	3431	3665	817.4	-19.1	148	3182	0.00	2.62	0.00	0.000	516	0.000	0.034	2061	1153	3548	3432	3664	0	0	0	0	0	0	28.83	26.74	28.83
3414	-1.07	-194.6	2061	1153	3431	3661	858.6	-18.8	155	3421	0.12	2.67	0.00	0.000	3078	0.158	0.037	2084	2617	3546	3431	3661	0	0	0	0	0	0	26.65	26.74	28.83
3730	-1.07	-194.6	2084	2616	3431	3655	917.3	-17.3	166	3737	0.00	2.65	0.00	0.000	516	0.000	0.033	2084	1144	3542	3431	3654	0	0	0	0	0	0	28.83	26.74	28.83
3932	-1.07	-194.6	2084	1144	3431	3651	948.0	-16.3	172	3938	0.00	2.70	0.00	0.000	1030	0.000	0.041	2073	2610	3540	3431	3650	0	0	0	0	0	0	28.83	26.74	28.83
4160	end dive: TARGET_DEPTH_EXCEEDED
state	4160	begin apogee
4166	-0.19	0.0	2073	2534	3427	3650	991.7	-17.8	180	4411	0.88	0.12	235.62	0.806	10246	0.127	0.083	2366	2580	2762	2796	2729	0	0	0	0	0	0	26.65	24.91	24.32
4413	end apogee: CONTROL_FINISHED_OK
state	4413	begin climb
4416	1.07	194.6	2366	2580	2792	2722	1000.4	0.0	187	4606	1.05	2.08	177.55	0.993	10500	0.022	0.041	2815	3835	1957	2060	1854	0	0	0	0	0	0	25.15	24.77	24.10
4833	1.07	194.6	2814	3835	2040	1850	878.3	38.7	200	4839	0.20	1.95	0.00	0.000	5126	0.226	0.019	2778	2533	1945	2040	1850	0	0	0	0	0	0	25.74	25.97	28.83
5158	1.07	194.6	2779	2532	2037	1845	772.0	30.9	211	5164	0.00	2.08	0.00	0.000	260	0.000	0.043	2769	3828	1941	2037	1845	0	0	0	0	0	0	28.83	26.24	28.83
5365	1.07	194.6	2769	3828	2035	1845	711.1	32.2	217	5371	0.00	1.90	0.00	0.000	1030	0.000	0.020	2778	2523	1940	2035	1845	0	0	0	0	0	0	28.83	26.41	28.83
5682	1.07	194.6	2779	2521	2032	1843	613.4	28.3	228	5688	0.00	2.08	0.00	0.000	260	0.000	0.041	2769	3834	1938	2033	1843	0	0	0	0	0	0	28.83	26.45	28.83
5769	1.07	194.6	2769	3834	2032	1842	586.4	30.1	231	5775	0.00	1.90	0.00	0.000	1030	0.000	0.019	2779	2520	1937	2032	1842	0	0	0	0	0	0	28.83	26.54	28.83
6096	1.07	194.6	2779	2518	2030	1841	497.8	27.1	247	6101	0.00	2.08	0.00	0.000	260	0.000	0.042	2769	3835	1939	2037	1841	0	0	0	0	0	0	28.83	26.53	28.83
6285	1.07	194.6	2769	3835	2030	1841	443.2	27.9	256	6290	0.00	1.90	0.00	0.000	1030	0.000	0.020	2779	2518	1935	2030	1840	0	0	0	0	0	0	28.83	26.64	28.83
6612	1.07	194.6	2779	2516	2029	1840	358.5	24.2	272	6618	0.00	2.05	0.00	0.000	260	0.000	0.040	2770	3832	1933	2028	1839	0	0	0	0	0	0	28.83	26.60	28.83
6857	1.07	194.6	2769	3832	2028	1839	295.9	25.2	283	6862	0.00	1.90	0.00	0.000	1030	0.000	0.019	2779	2519	1933	2027	1839	0	0	0	0	0	0	28.83	26.71	28.83
7172	1.07	194.6	2779	2517	2027	1838	221.5	23.2	299	7178	0.00	2.05	0.00	0.000	260	0.000	0.040	2770	3842	1932	2027	1838	0	0	0	0	0	0	28.83	26.66	28.83
7412	1.07	194.6	2769	3841	2027	1838	173.7	20.3	310	7418	0.00	1.88	0.00	0.000	1030	0.000	0.018	2779	2520	1932	2027	1838	0	0	0	0	0	0	28.83	26.75	28.83
7727	1.07	194.6	2780	2519	2026	1838	125.7	13.6	326	7733	0.00	2.05	0.00	0.000	260	0.000	0.038	2770	3845	1932	2027	1838	0	0	0	0	0	0	28.83	26.70	28.83
7968	1.07	194.6	2770	3845	2027	1834	94.7	13.4	337	7974	0.00	1.90	0.00	0.000	1030	0.000	0.018	2780	2514	1932	2026	1838	0	0	0	0	0	0	28.83	26.79	28.83
8284	1.07	194.6	2781	2513	2027	1839	52.6	13.1	353	8289	0.00	2.10	0.00	0.000	260	0.000	0.037	2770	3847	1933	2027	1839	0	0	0	0	0	0	28.83	26.74	28.83
8528	1.07	194.6	1744	3847	1984	1832	17.5	13.6	380	8536	0.00	1.90	0.00	0.000	1030	0.000	0.017	2780	2516	1933	2026	1840	0	0	0	0	0	0	28.83	26.82	28.83
8644	end climb: SURFACE_DEPTH_REACHED
state	8644	begin surface coast
8668	end surface coast: CONTROL_FINISHED_OK
state	8668	begin surface