Glider dive log

OKMC Nov11 * SG169 * Dive index * Mission links * Dive 182 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_B 0.010078 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 25

DIVE 182 HEADING -1 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2630 ALTIM_PING_DELTA 0

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 110 SM_CC 425 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 280 UPLOAD_DIVES_MAX -1 C_VBD 2979 DEVICE3 35

T_MISSION 320 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -8 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -10948.705 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -8 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 250 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2010 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354053

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -76.737366 SEABIRD_T_H 0.0006253231

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3840643e-05

MASS 51570 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5685486e-06

NAV_MODE 2 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9554796

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1274287

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0019472764

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 400 SEABIRD_C_J 0.00023438112

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 400 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_SURF 3 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 146 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.000115925 T_BOOST 4

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -76.737366 T_DIVE 280

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 1 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -10948.705

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 320

COMPASS_DEVICE 33 ID 169 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2010 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 330 T_WATCHDOG 10

C_ROLL_DIVE 2630 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2979 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3795 USE_BATHY -8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51570 ROLL_MIN 220 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT -10 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MAX 3960

DEVICE5 -1 MISSION 5 SEABIRD_C_G -9.9554796 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1274287 VBD_MIN 435

DIVE 182 NAV_MODE 2 SEABIRD_C_I -0.0019472764 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023438112 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 110 N_DIVES 0 SEABIRD_T_G 0.0043354053 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.0006253231 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3840643e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.5685486e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 131211,225336,2316.350,12129.280,11,1.7,27,-3.1 TGT_NAME N2

_CALLS 1 TGT_LATLONG 2350.000,12355.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,0.143

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131211,225934,2316.447,12129.300,9,2.4,28,-3.1 MHEAD_RNG_PITCHd_Wd 79.0,254528,-16.1,-11.786

SPEED_LIMITS 0.204,0.345 D_GRID 601

Post-dive calculations and measurements:

FINISH 0.1,1.022922 _10V_AH 10.3,26.270

SM_CCo 9006,0.00,0.000,0,0,845,523.47 FG_AHR_24Vo 0.000

SM_GC 0.93,5.38,2.05,0.00,0.026,0.032,0.000,138,2662,845,-5.78,-0.14,523.47,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2309.79,12136.45,131211,212143 MEM 324516

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 70315,1078

HUMID 44.44 CAP_FILE_SIZE 115620,0

INTERNAL_PRESSURE 9.49611 CFSIZE 260165632,206360576

TCM_TEMP 23.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.292,220.9,1

ALTIM_BOTTOM_PING 361.4,0.0 GPS 141211,013044,2315.735,12130.517,14,2.0,15,-3.1

_24V_AH 24.3,39.650

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 224 81.16 SBE_CT 726 24 423.86

Roll_motor 83 82 168.29 AA4330 1281 33 1027.90

VBD_pump_during_apogee 659 904 14486.66 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 27 103 69.21 nil 0 0 0.00

Iridium_during_connect 39 160 152.31 nil 0 0 0.00

Iridium_during_xfer 169 223 918.54 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 50 15.76

TT8 2743 19 559.56

LPSleep 3554 2 80.19

TT8_Active 724 19 147.83

TT8_Sampling 2094 39 858.80

TT8_CF8 239 45 113.00

TT8_Kalman 0 0 0.00

Analog_circuits 1742 12 215.39

GPS_charging 0 0 0.00

Compass 1749 15 270.32

RAFOS 0 0 0.00

Transponder 3 30 0.96

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 pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.70 -243.3 0.0 0.0 0 104 0.00 0.00 -84.40 0.000 2 0.000 0.000 116 2681 3022 0 0 0 0 0 0 28.83 28.83 28.83

108 -0.70 -243.3 3.3 -5.7 13 140 6.53 2.30 -18.20 0.000 4 0.225 0.044 1786 1172 3963 0 0 0 0 0 0 25.54 26.18 26.56

228 -0.65 -243.3 44.0 -25.8 33 234 0.00 2.25 0.00 0.000 6 0.000 0.041 1776 2654 3964 0 0 0 0 0 0 28.83 26.19 28.83

550 -0.57 -243.3 143.6 -27.8 94 558 0.15 1.77 0.00 0.000 4 0.164 0.045 1814 3822 3964 0 0 0 0 0 0 26.12 26.27 28.83

682 -0.56 -243.3 164.0 -13.7 118 689 0.00 1.80 0.00 0.000 6 0.000 0.025 1822 2553 3965 0 0 0 0 0 0 28.83 26.47 28.83

1005 -0.54 -243.3 214.3 -16.9 172 1006 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2553 3965 0 0 0 0 0 0 28.83 28.83 28.83

1307 -0.51 -243.3 262.2 -17.4 202 1315 0.00 1.98 0.00 0.000 4 0.000 0.042 1813 3827 3964 0 0 0 0 0 0 28.83 26.36 28.83

1410 -0.54 -243.3 276.4 -11.6 212 1421 0.00 1.80 0.00 0.000 6 0.000 0.024 1814 2560 3964 0 0 0 0 0 0 28.83 26.52 28.83

1720 -0.52 -243.3 321.6 -13.8 243 1729 0.00 2.00 0.00 0.000 4 0.000 0.028 1813 1177 3962 0 0 0 0 0 0 28.83 26.44 28.83

1752 -0.51 -243.3 326.4 -15.2 246 1763 0.15 2.25 0.00 0.000 6 0.125 0.040 1850 2658 3961 0 0 0 0 0 0 26.22 26.39 28.83

2064 -0.54 -243.3 356.5 -7.9 277 2073 0.00 2.15 0.00 0.000 4 0.000 0.030 1850 1181 3959 0 0 0 0 0 0 28.83 26.44 28.83

2088 -0.58 -243.3 358.3 -8.0 279 2095 0.00 2.22 0.00 0.000 6 0.000 0.041 1849 2657 3959 0 0 0 0 0 0 28.83 26.38 28.83

2397 -0.62 -243.3 384.7 -7.0 310 2404 0.12 0.00 0.00 0.000 6 0.075 0.000 1760 2657 3957 0 0 0 0 0 0 26.63 28.83 28.83

2705 -0.55 -243.3 454.2 -23.1 341 2717 0.20 2.17 0.00 0.000 4 0.144 0.028 1828 1172 3955 0 0 0 0 0 0 26.14 26.41 28.83

2762 -0.56 -243.3 462.8 -14.2 346 2770 0.00 2.22 0.00 0.000 6 0.000 0.042 1825 2651 3954 0 0 0 0 0 0 28.83 26.36 28.83

3071 -0.58 -243.3 494.0 -3.0 377 3074 0.00 1.80 0.00 0.000 4 0.000 0.049 1817 3812 3952 0 0 0 0 0 0 28.83 26.32 28.83

3105 -0.60 -243.3 494.7 -2.2 380 3112 0.00 1.80 0.00 0.000 6 0.000 0.026 1817 2556 3951 0 0 0 0 0 0 28.83 26.52 28.83

3414 -0.60 -243.3 514.3 -8.9 411 3422 0.00 1.98 0.00 0.000 4 0.000 0.029 1817 1182 3949 0 0 0 0 0 0 28.83 26.41 28.83

3435 -0.61 -243.3 516.3 -8.8 413 3444 0.00 2.22 0.00 0.000 6 0.000 0.042 1812 2653 3949 0 0 0 0 0 0 28.83 26.34 28.83

3746 -0.61 -243.3 551.9 -10.3 444 3750 0.00 2.17 0.00 0.000 4 0.000 0.031 1812 1175 3946 0 0 0 0 0 0 28.83 26.39 28.83

3779 -0.62 -243.3 555.1 -10.0 447 3788 0.00 2.22 0.00 0.000 6 0.000 0.043 1812 2653 3946 0 0 0 0 0 0 28.83 26.32 28.83

4087 -0.62 -243.3 586.6 -11.3 478 4098 0.00 2.15 0.00 0.000 4 0.000 0.031 1812 1183 3945 0 0 0 0 0 0 28.83 26.36 28.83

4135 -0.63 -243.3 591.5 -11.5 482 4144 0.00 2.22 0.00 0.000 6 0.000 0.044 1812 2652 3944 0 0 0 0 0 0 28.83 26.31 28.83

4239 end dive: TARGET_DEPTH_EXCEEDED

state 4239 begin apogee

4244 -0.20 0.0 602.7 -11.0 492 4447 0.38 0.12 193.82 0.904 6 0.097 0.083 1947 2546 2974 0 0 0 0 0 0 26.14 25.11 24.39

4448 end apogee: CONTROL_FINISHED_OK

state 4448 begin climb

4450 0.70 243.3 613.3 0.0 502 4673 0.77 2.38 208.60 0.899 4 0.047 0.037 2256 1052 1973 0 0 0 0 0 0 25.26 25.01 24.29

4740 0.63 243.3 577.0 21.9 521 4748 0.10 2.33 0.00 0.000 6 0.152 0.041 2216 2520 1962 0 0 0 0 0 0 25.32 25.56 28.83

5050 0.54 243.3 507.2 21.8 552 5059 0.12 1.98 0.00 0.000 4 0.197 0.046 2181 3811 1959 0 0 0 0 0 0 25.82 26.01 28.83

5115 0.48 243.3 492.9 20.8 558 5122 0.00 2.03 0.00 0.000 6 0.000 0.031 2191 2463 1958 0 0 0 0 0 0 28.83 26.13 28.83

5423 0.42 243.3 439.7 18.8 589 5425 0.15 0.00 0.00 0.000 6 0.174 0.000 2151 2462 1956 0 0 0 0 0 0 25.98 28.83 28.83

5723 0.41 243.3 399.9 13.1 619 5734 0.00 2.10 0.00 0.000 4 0.000 0.047 2151 3823 1955 0 0 0 0 0 0 28.83 26.20 28.83

5799 0.39 243.3 389.8 13.2 626 5808 0.00 2.03 0.00 0.000 6 0.000 0.029 2161 2453 1954 0 0 0 0 0 0 28.83 26.30 28.83

6108 0.37 243.3 342.7 14.9 657 6117 0.12 2.10 0.00 0.000 4 0.172 0.034 2134 1051 1954 0 0 0 0 0 0 26.14 26.28 28.83

6155 0.38 243.3 337.4 12.7 661 6161 0.00 2.22 0.00 0.000 6 0.000 0.040 2134 2522 1952 0 0 0 0 0 0 28.83 26.27 28.83

6463 0.46 298.2 305.5 10.0 692 6515 0.00 2.03 47.17 0.725 4 0.000 0.044 2135 3821 1754 0 0 0 0 0 0 28.83 25.82 25.09

6551 0.50 302.6 295.3 11.6 700 6555 0.00 2.05 0.00 0.000 6 0.000 0.028 2145 2451 1742 0 0 0 0 0 0 28.83 25.91 28.83

6864 0.57 340.2 261.5 10.6 731 6905 0.12 2.20 35.08 0.699 4 0.076 0.039 2236 1055 1583 0 0 0 0 0 0 26.31 25.79 25.10

6953 0.54 340.2 247.6 17.5 739 6963 0.17 2.28 0.00 0.000 6 0.145 0.043 2187 2521 1569 0 0 0 0 0 0 25.64 25.84 28.83

7262 0.52 340.2 202.5 14.9 770 7263 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2521 1566 0 0 0 0 0 0 28.83 28.83 28.83

7568 0.51 340.2 160.2 12.5 827 7577 0.00 2.00 0.00 0.000 4 0.000 0.047 2186 3822 1566 0 0 0 0 0 0 28.83 26.16 28.83

7625 0.51 340.2 152.7 12.3 837 7631 0.00 2.03 0.00 0.000 6 0.000 0.029 2196 2464 1565 0 0 0 0 0 0 28.83 26.28 28.83

7945 0.57 368.2 117.1 10.9 898 7978 0.00 2.15 24.05 0.601 4 0.000 0.046 2197 3807 1464 0 0 0 0 0 0 28.83 26.12 25.42

8028 0.62 384.8 108.6 11.2 912 8046 0.00 2.03 11.68 0.297 6 0.000 0.028 2208 2447 1414 0 0 0 0 0 0 28.83 26.15 25.41

8356 0.84 521.4 84.2 7.3 975 8497 0.17 2.20 132.85 0.281 4 0.060 0.045 2317 3812 855 0 0 0 0 0 0 26.39 25.75 25.34

8578 0.82 521.4 44.4 18.0 1012 8586 0.20 2.05 2.20 0.164 6 0.148 0.030 2270 2462 852 0 0 0 0 0 0 25.63 25.94 25.54

8898 0.84 525.1 3.5 11.7 1073 8906 0.00 1.73 3.85 0.145 3 0.000 0.033 2279 1322 835 0 0 0 0 0 0 28.83 28.83 25.76

8907 end climb: SURFACE_DEPTH_REACHED

state 8907 begin surface coast

8929 end surface coast: CONTROL_FINISHED_OK

state 8929 begin surface

ID	169	HD_B	0.010078	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	25
DIVE	182	HEADING	-1	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2630	ALTIM_PING_DELTA	0
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	110	SM_CC	425	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	280	UPLOAD_DIVES_MAX	-1	C_VBD	2979	DEVICE3	35
T_MISSION	320	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-8	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-10948.705	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-8	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	250	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2010	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354053
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-76.737366	SEABIRD_T_H	0.0006253231
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3840643e-05
MASS	51570	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5685486e-06
NAV_MODE	2	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9554796
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1274287
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0019472764
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	400	SEABIRD_C_J	0.00023438112

GPS1	131211,225336,2316.350,12129.280,11,1.7,27,-3.1	TGT_NAME	N2
_CALLS	1	TGT_LATLONG	2350.000,12355.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,0.143
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131211,225934,2316.447,12129.300,9,2.4,28,-3.1	MHEAD_RNG_PITCHd_Wd	79.0,254528,-16.1,-11.786
SPEED_LIMITS	0.204,0.345	D_GRID	601

FINISH	0.1,1.022922	_10V_AH	10.3,26.270
SM_CCo	9006,0.00,0.000,0,0,845,523.47	FG_AHR_24Vo	0.000
SM_GC	0.93,5.38,2.05,0.00,0.026,0.032,0.000,138,2662,845,-5.78,-0.14,523.47,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2309.79,12136.45,131211,212143	MEM	324516
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	70315,1078
HUMID	44.44	CAP_FILE_SIZE	115620,0
INTERNAL_PRESSURE	9.49611	CFSIZE	260165632,206360576
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.292,220.9,1
ALTIM_BOTTOM_PING	361.4,0.0	GPS	141211,013044,2315.735,12130.517,14,2.0,15,-3.1
_24V_AH	24.3,39.650

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	224	81.16	SBE_CT	726	24	423.86
Roll_motor	83	82	168.29	AA4330	1281	33	1027.90
VBD_pump_during_apogee	659	904	14486.66	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	27	103	69.21	nil	0	0	0.00
Iridium_during_connect	39	160	152.31	nil	0	0	0.00
Iridium_during_xfer	169	223	918.54	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	50	15.76
TT8	2743	19	559.56
LPSleep	3554	2	80.19
TT8_Active	724	19	147.83
TT8_Sampling	2094	39	858.80
TT8_CF8	239	45	113.00
TT8_Kalman	0	0	0.00
Analog_circuits	1742	12	215.39
GPS_charging	0	0	0.00
Compass	1749	15	270.32
RAFOS	0	0	0.00
Transponder	3	30	0.96

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	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.70	-243.3	0.0	0.0	0	104	0.00	0.00	-84.40	0.000	2	0.000	0.000	116	2681	3022	0	0	0	0	0	0	28.83	28.83	28.83
108	-0.70	-243.3	3.3	-5.7	13	140	6.53	2.30	-18.20	0.000	4	0.225	0.044	1786	1172	3963	0	0	0	0	0	0	25.54	26.18	26.56
228	-0.65	-243.3	44.0	-25.8	33	234	0.00	2.25	0.00	0.000	6	0.000	0.041	1776	2654	3964	0	0	0	0	0	0	28.83	26.19	28.83
550	-0.57	-243.3	143.6	-27.8	94	558	0.15	1.77	0.00	0.000	4	0.164	0.045	1814	3822	3964	0	0	0	0	0	0	26.12	26.27	28.83
682	-0.56	-243.3	164.0	-13.7	118	689	0.00	1.80	0.00	0.000	6	0.000	0.025	1822	2553	3965	0	0	0	0	0	0	28.83	26.47	28.83
1005	-0.54	-243.3	214.3	-16.9	172	1006	0.00	0.00	0.00	0.000	6	0.000	0.000	1822	2553	3965	0	0	0	0	0	0	28.83	28.83	28.83
1307	-0.51	-243.3	262.2	-17.4	202	1315	0.00	1.98	0.00	0.000	4	0.000	0.042	1813	3827	3964	0	0	0	0	0	0	28.83	26.36	28.83
1410	-0.54	-243.3	276.4	-11.6	212	1421	0.00	1.80	0.00	0.000	6	0.000	0.024	1814	2560	3964	0	0	0	0	0	0	28.83	26.52	28.83
1720	-0.52	-243.3	321.6	-13.8	243	1729	0.00	2.00	0.00	0.000	4	0.000	0.028	1813	1177	3962	0	0	0	0	0	0	28.83	26.44	28.83
1752	-0.51	-243.3	326.4	-15.2	246	1763	0.15	2.25	0.00	0.000	6	0.125	0.040	1850	2658	3961	0	0	0	0	0	0	26.22	26.39	28.83
2064	-0.54	-243.3	356.5	-7.9	277	2073	0.00	2.15	0.00	0.000	4	0.000	0.030	1850	1181	3959	0	0	0	0	0	0	28.83	26.44	28.83
2088	-0.58	-243.3	358.3	-8.0	279	2095	0.00	2.22	0.00	0.000	6	0.000	0.041	1849	2657	3959	0	0	0	0	0	0	28.83	26.38	28.83
2397	-0.62	-243.3	384.7	-7.0	310	2404	0.12	0.00	0.00	0.000	6	0.075	0.000	1760	2657	3957	0	0	0	0	0	0	26.63	28.83	28.83
2705	-0.55	-243.3	454.2	-23.1	341	2717	0.20	2.17	0.00	0.000	4	0.144	0.028	1828	1172	3955	0	0	0	0	0	0	26.14	26.41	28.83
2762	-0.56	-243.3	462.8	-14.2	346	2770	0.00	2.22	0.00	0.000	6	0.000	0.042	1825	2651	3954	0	0	0	0	0	0	28.83	26.36	28.83
3071	-0.58	-243.3	494.0	-3.0	377	3074	0.00	1.80	0.00	0.000	4	0.000	0.049	1817	3812	3952	0	0	0	0	0	0	28.83	26.32	28.83
3105	-0.60	-243.3	494.7	-2.2	380	3112	0.00	1.80	0.00	0.000	6	0.000	0.026	1817	2556	3951	0	0	0	0	0	0	28.83	26.52	28.83
3414	-0.60	-243.3	514.3	-8.9	411	3422	0.00	1.98	0.00	0.000	4	0.000	0.029	1817	1182	3949	0	0	0	0	0	0	28.83	26.41	28.83
3435	-0.61	-243.3	516.3	-8.8	413	3444	0.00	2.22	0.00	0.000	6	0.000	0.042	1812	2653	3949	0	0	0	0	0	0	28.83	26.34	28.83
3746	-0.61	-243.3	551.9	-10.3	444	3750	0.00	2.17	0.00	0.000	4	0.000	0.031	1812	1175	3946	0	0	0	0	0	0	28.83	26.39	28.83
3779	-0.62	-243.3	555.1	-10.0	447	3788	0.00	2.22	0.00	0.000	6	0.000	0.043	1812	2653	3946	0	0	0	0	0	0	28.83	26.32	28.83
4087	-0.62	-243.3	586.6	-11.3	478	4098	0.00	2.15	0.00	0.000	4	0.000	0.031	1812	1183	3945	0	0	0	0	0	0	28.83	26.36	28.83
4135	-0.63	-243.3	591.5	-11.5	482	4144	0.00	2.22	0.00	0.000	6	0.000	0.044	1812	2652	3944	0	0	0	0	0	0	28.83	26.31	28.83
4239	end dive: TARGET_DEPTH_EXCEEDED
state	4239	begin apogee
4244	-0.20	0.0	602.7	-11.0	492	4447	0.38	0.12	193.82	0.904	6	0.097	0.083	1947	2546	2974	0	0	0	0	0	0	26.14	25.11	24.39
4448	end apogee: CONTROL_FINISHED_OK
state	4448	begin climb
4450	0.70	243.3	613.3	0.0	502	4673	0.77	2.38	208.60	0.899	4	0.047	0.037	2256	1052	1973	0	0	0	0	0	0	25.26	25.01	24.29
4740	0.63	243.3	577.0	21.9	521	4748	0.10	2.33	0.00	0.000	6	0.152	0.041	2216	2520	1962	0	0	0	0	0	0	25.32	25.56	28.83
5050	0.54	243.3	507.2	21.8	552	5059	0.12	1.98	0.00	0.000	4	0.197	0.046	2181	3811	1959	0	0	0	0	0	0	25.82	26.01	28.83
5115	0.48	243.3	492.9	20.8	558	5122	0.00	2.03	0.00	0.000	6	0.000	0.031	2191	2463	1958	0	0	0	0	0	0	28.83	26.13	28.83
5423	0.42	243.3	439.7	18.8	589	5425	0.15	0.00	0.00	0.000	6	0.174	0.000	2151	2462	1956	0	0	0	0	0	0	25.98	28.83	28.83
5723	0.41	243.3	399.9	13.1	619	5734	0.00	2.10	0.00	0.000	4	0.000	0.047	2151	3823	1955	0	0	0	0	0	0	28.83	26.20	28.83
5799	0.39	243.3	389.8	13.2	626	5808	0.00	2.03	0.00	0.000	6	0.000	0.029	2161	2453	1954	0	0	0	0	0	0	28.83	26.30	28.83
6108	0.37	243.3	342.7	14.9	657	6117	0.12	2.10	0.00	0.000	4	0.172	0.034	2134	1051	1954	0	0	0	0	0	0	26.14	26.28	28.83
6155	0.38	243.3	337.4	12.7	661	6161	0.00	2.22	0.00	0.000	6	0.000	0.040	2134	2522	1952	0	0	0	0	0	0	28.83	26.27	28.83
6463	0.46	298.2	305.5	10.0	692	6515	0.00	2.03	47.17	0.725	4	0.000	0.044	2135	3821	1754	0	0	0	0	0	0	28.83	25.82	25.09
6551	0.50	302.6	295.3	11.6	700	6555	0.00	2.05	0.00	0.000	6	0.000	0.028	2145	2451	1742	0	0	0	0	0	0	28.83	25.91	28.83
6864	0.57	340.2	261.5	10.6	731	6905	0.12	2.20	35.08	0.699	4	0.076	0.039	2236	1055	1583	0	0	0	0	0	0	26.31	25.79	25.10
6953	0.54	340.2	247.6	17.5	739	6963	0.17	2.28	0.00	0.000	6	0.145	0.043	2187	2521	1569	0	0	0	0	0	0	25.64	25.84	28.83
7262	0.52	340.2	202.5	14.9	770	7263	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2521	1566	0	0	0	0	0	0	28.83	28.83	28.83
7568	0.51	340.2	160.2	12.5	827	7577	0.00	2.00	0.00	0.000	4	0.000	0.047	2186	3822	1566	0	0	0	0	0	0	28.83	26.16	28.83
7625	0.51	340.2	152.7	12.3	837	7631	0.00	2.03	0.00	0.000	6	0.000	0.029	2196	2464	1565	0	0	0	0	0	0	28.83	26.28	28.83
7945	0.57	368.2	117.1	10.9	898	7978	0.00	2.15	24.05	0.601	4	0.000	0.046	2197	3807	1464	0	0	0	0	0	0	28.83	26.12	25.42
8028	0.62	384.8	108.6	11.2	912	8046	0.00	2.03	11.68	0.297	6	0.000	0.028	2208	2447	1414	0	0	0	0	0	0	28.83	26.15	25.41
8356	0.84	521.4	84.2	7.3	975	8497	0.17	2.20	132.85	0.281	4	0.060	0.045	2317	3812	855	0	0	0	0	0	0	26.39	25.75	25.34
8578	0.82	521.4	44.4	18.0	1012	8586	0.20	2.05	2.20	0.164	6	0.148	0.030	2270	2462	852	0	0	0	0	0	0	25.63	25.94	25.54
8898	0.84	525.1	3.5	11.7	1073	8906	0.00	1.73	3.85	0.145	3	0.000	0.033	2279	1322	835	0	0	0	0	0	0	28.83	28.83	25.76
8907	end climb: SURFACE_DEPTH_REACHED
state	8907	begin surface coast
8929	end surface coast: CONTROL_FINISHED_OK
state	8929	begin surface