Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 HD_C 1.5e-05 ROLL_MAX 3785 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 24 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 72 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 57 XPDR_VALID 2

D_BOOST 150 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 440 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2753 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -8 T_GPS_CHARGE -95702.344 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE 149

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 12 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3941 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2700 FG_AHR_10V 0 SEABIRD_T_G 0.004364301

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062910328

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.4425184e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -160.75446 SEABIRD_T_J 2.6404416e-06

MASS 52184 PITCH_GAIN 20 PRESSURE_SLOPE 0.000109412 SEABIRD_C_G -9.9046793

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 1 SEABIRD_C_H 1.1251128

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019873739

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00023203803

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0033 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0082 ROLL_MIN 209 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY 2 SEABIRD_T_J 2.6404416e-06

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3941 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 250 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0033 PRESSURE_SLOPE 0.000109412 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0082 PRESSURE_YINT -160.75446 T_BOOST 5

CALL_WAIT 60 HD_C 1.5e-05 PROTOCOL 9 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -95702.344

COMPASS2_DEVICE 149 ID 181 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 360

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2700 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2375 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2753 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3785 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52184 ROLL_MAXERRORS 2 USE_BATHY -8

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 209 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_PORT_OVSHOOT 72 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 57 VBD_DBAND 2

DEVICE4 -1 MISSION 11 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 440

DIVE 24 NOCOMM_ACTION 163 SEABIRD_C_G -9.9046793 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_H 1.1251128 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 150 N_FILEKB 8 SEABIRD_C_I -0.0019873739 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00023203803 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.004364301 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062910328 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.4425184e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 190513,190433,2148.784,12030.624,11,4.3,30,-2.7 TGT_NAME DOGLEG2

_CALLS 1 TGT_LATLONG 2148.000,12100.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190513,191054,2148.783,12030.575,9,1.3,14,-2.7 MHEAD_RNG_PITCHd_Wd 108.7,50618,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 592

Post-dive calculations and measurements:

FINISH 0.4,1.021761 _10V_AH 13.6,0.000

SM_CCo 6872,54.90,0.149,0,0,916,450.13 FG_AHR_24Vo 0.000

SM_GC -0.09,7.60,2.35,54.90,0.051,0.057,0.149,227,2404,916,-7.63,-0.85,450.13,0,0,0,0,0,0,14.90,14.88,14.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12016.39,190513,161609 MEM 323216

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 13466,407

HUMID 44.52 CAP_FILE_SIZE 93610,0

INTERNAL_PRESSURE 9.68787 CFSIZE 260034560,253816832

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 29 CURRENT 0.244,305.5,1

SC_FREEKB 3928896 GPS 190513,210743,2148.994,12030.817,10,1.9,10,-2.7

_24V_AH 13.7,29.689

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 419 116.01 nil 0 0 0.00

Roll_motor 66 98 90.38 nil 0 0 0.00

VBD_pump_during_apogee 420 1298 7485.88 nil 0 0 0.00

VBD_pump_during_surface 54 149 112.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 112 37.22 nil 0 0 0.00

Iridium_during_connect 18 160 40.25 SciCon 6899 6 635.15

Iridium_during_xfer 177 223 541.73 nil 0 0 0.00

Transponder_ping 7 420 41.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.95

TT8 1247 10 185.93

LPSleep 4175 2 124.37

TT8_Active 525 10 78.31

TT8_Sampling 1296 28 510.23

TT8_CF8 81 35 39.51

TT8_Kalman 0 0 0.00

Analog_circuits 1112 16 242.10

GPS_charging 0 0 0.00

Compass 961 6 88.12

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.91 -194.6 212 2436 919 919 0.0 0.0 0 113 0.00 0.00 -92.38 0.000 16386 0.000 0.000 211 2436 3268 3320 3217 0 0 0 0 0 0 28.83 28.83 28.83

115 -0.91 -194.6 211 2436 3320 3219 4.4 -15.6 16 136 10.30 2.22 -4.53 0.000 18692 0.419 0.099 2391 3758 3555 3635 3476 0 0 0 0 0 0 14.49 14.74 14.94

278 -0.91 -194.6 2392 3758 3638 3477 67.2 -29.6 30 284 0.00 2.08 0.00 0.000 1030 0.000 0.037 2392 2397 3557 3638 3477 0 0 0 0 0 0 28.83 14.83 28.83

584 -0.91 -194.6 2391 2391 3642 3477 146.9 -23.1 46 589 0.00 2.15 0.00 0.000 516 0.000 0.044 2391 1006 3559 3642 3477 0 0 0 0 0 0 28.83 14.88 28.83

729 -0.91 -194.6 1536 1005 3640 3475 176.3 -19.4 53 735 0.00 2.20 0.00 0.000 1030 0.000 0.062 2382 2373 3561 3644 3478 0 0 0 0 0 0 28.83 14.88 28.83

1047 -0.91 -194.6 2382 2373 3644 3477 240.0 -19.2 69 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2373 3561 3644 3478 0 0 0 0 0 0 28.83 28.83 28.83

1347 -0.91 -194.6 2382 2373 3646 3477 300.8 -18.0 84 1353 0.00 2.30 0.00 0.000 260 0.000 0.085 2371 3779 3561 3645 3477 0 0 0 0 0 0 28.83 14.92 28.83

1384 -0.91 -194.6 2370 3780 3646 3477 304.8 -17.5 85 1391 0.12 2.10 0.00 0.000 3078 0.274 0.038 2401 2386 3561 3646 3477 0 0 0 0 0 0 14.81 14.98 28.83

1689 -0.91 -194.6 2401 2382 3645 3475 353.9 -13.8 101 1695 0.00 2.30 0.00 0.000 260 0.000 0.086 2393 3778 3559 3645 3474 0 0 0 0 0 0 28.83 14.94 28.83

1726 -0.91 -194.6 2393 3778 3646 3474 357.1 -13.6 102 1733 0.00 2.08 0.00 0.000 1030 0.000 0.039 2393 2398 3559 3645 3474 0 0 0 0 0 0 28.83 15.01 28.83

2032 -0.91 -194.6 2393 2397 3646 3471 406.3 -15.8 118 2037 0.00 2.17 0.00 0.000 516 0.000 0.051 2393 1007 3558 3646 3471 0 0 0 0 0 0 28.83 14.99 28.83

2103 -0.91 -194.6 2393 1006 3646 3470 416.5 -16.4 121 2108 0.00 2.25 0.00 0.000 1030 0.000 0.061 2383 2407 3557 3645 3470 0 0 0 0 0 0 28.83 14.97 28.83

2415 -0.91 -194.6 2383 2407 3645 3466 473.6 -17.6 137 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2407 3556 3647 3466 0 0 0 0 0 0 28.83 28.83 28.83

2716 -0.91 -194.6 2383 2407 3646 3462 523.5 -15.4 152 2721 0.00 2.20 0.00 0.000 516 0.000 0.057 2383 1017 3554 3646 3462 0 0 0 0 0 0 28.83 15.00 28.83

2748 -0.91 -194.6 2384 1016 3646 3462 527.2 -15.4 153 2754 0.12 2.22 0.00 0.000 3078 0.269 0.064 2402 2397 3553 3645 3462 0 0 0 0 0 0 14.87 14.98 28.83

3061 -0.91 -194.6 2402 2398 3644 3458 571.6 -13.3 169 3066 0.00 2.28 0.00 0.000 260 0.000 0.093 2394 3781 3551 3644 3458 0 0 0 0 0 0 28.83 14.95 28.83

3137 -0.91 -194.6 2393 3782 3642 3458 580.0 -13.2 172 3144 0.00 2.10 0.00 0.000 1030 0.000 0.044 2394 2404 3551 3643 3459 0 0 0 0 0 0 28.83 15.03 28.83

3221 end dive: TARGET_DEPTH_EXCEEDED

state 3221 begin apogee

3225 -0.25 0.0 2394 2401 3642 3457 592.7 -12.6 177 3418 0.73 0.00 183.90 1.298 10246 0.220 0.000 2608 2401 2750 2782 2718 0 0 0 0 0 0 14.85 28.83 13.76

3419 end apogee: CONTROL_FINISHED_OK

state 3419 begin climb

3421 0.91 194.6 2609 2401 2781 2717 596.7 0.0 186 3609 1.17 2.42 177.60 1.297 10756 0.129 0.055 2998 989 1953 1986 1921 0 0 0 0 0 0 14.28 14.21 13.71

3620 0.91 194.6 2999 988 1984 1915 569.6 19.4 196 3628 0.00 2.35 0.00 0.000 1030 0.000 0.063 2999 2374 1949 1984 1914 0 0 0 0 0 0 28.83 14.31 28.83

3926 0.91 194.6 2999 2375 1984 1899 498.2 20.6 212 3927 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2375 1941 1984 1899 0 0 0 0 0 0 28.83 28.83 28.83

4227 0.91 194.6 2999 2375 1984 1895 438.5 20.2 227 4233 0.00 2.33 0.00 0.000 260 0.000 0.090 2999 3777 1939 1984 1895 0 0 0 0 0 0 28.83 14.81 28.83

4253 0.91 194.6 2080 3776 1948 1886 433.6 20.4 228 4259 0.00 2.17 0.00 0.000 1030 0.000 0.043 3009 2372 1940 1984 1896 0 0 0 0 0 0 28.83 14.87 28.83

4571 0.91 194.6 3009 2367 1984 1892 363.0 21.4 244 4576 0.00 2.20 0.00 0.000 516 0.000 0.054 3019 982 1938 1984 1892 0 0 0 0 0 0 28.83 14.90 28.83

4633 0.91 194.6 3019 982 1984 1892 350.2 20.8 247 4639 0.00 2.28 0.00 0.000 1030 0.000 0.063 3020 2378 1938 1984 1892 0 0 0 0 0 0 28.83 14.88 28.83

4956 0.91 194.6 3019 2379 1984 1889 282.4 20.7 263 4961 0.00 2.33 0.00 0.000 260 0.000 0.091 3019 3778 1936 1984 1889 0 0 0 0 0 0 28.83 14.89 28.83

4987 0.91 194.6 3020 3778 1984 1889 277.5 21.0 264 4993 0.15 2.15 0.00 0.000 5126 0.314 0.042 2999 2370 1936 1984 1889 0 0 0 0 0 0 14.76 14.95 28.83

5300 0.91 194.6 2999 2366 1984 1887 221.7 17.9 280 5306 0.00 2.17 0.00 0.000 516 0.000 0.054 3007 990 1935 1984 1886 0 0 0 0 0 0 28.83 14.94 28.83

5374 0.91 194.6 3006 990 1983 1886 210.3 18.1 283 5379 0.00 2.25 0.00 0.000 1030 0.000 0.063 3007 2380 1934 1983 1886 0 0 0 0 0 0 28.83 14.92 28.83

5686 0.91 194.6 3006 2381 1983 1885 151.3 17.2 299 5691 0.00 2.30 0.00 0.000 260 0.000 0.090 3007 3775 1933 1983 1884 0 0 0 0 0 0 28.83 14.90 28.83

5868 0.91 194.6 3006 3775 1983 1885 115.2 19.2 308 5873 0.00 2.15 0.00 0.000 1030 0.000 0.042 3017 2370 1934 1983 1885 0 0 0 0 0 0 28.83 14.97 28.83

6190 0.91 194.6 3017 2366 1983 1884 67.4 15.3 324 6195 0.00 2.20 0.00 0.000 516 0.000 0.054 3027 977 1933 1983 1883 0 0 0 0 0 0 28.83 14.90 28.83

6408 0.93 212.3 3027 977 1984 1883 41.7 9.4 338 6419 0.00 2.25 5.60 0.243 9222 0.000 0.057 3027 2383 1886 1932 1840 0 0 0 0 0 0 28.83 14.92 14.76

6722 1.04 326.6 3028 2384 1941 1854 13.5 6.0 383 6783 0.00 2.30 53.80 0.184 8708 0.000 0.051 3038 983 1418 1457 1380 0 0 0 0 0 0 28.83 14.86 14.76

6833 end climb: SURFACE_DEPTH_REACHED

state 6833 begin surface coast

6855 end surface coast: CONTROL_FINISHED_OK

state 6855 begin surface

ID	181	HD_C	1.5e-05	ROLL_MAX	3785	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	24	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	72	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	57	XPDR_VALID	2
D_BOOST	150	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	440	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2753	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-8	T_GPS_CHARGE	-95702.344	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	149
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	12	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3941	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2700	FG_AHR_10V	0	SEABIRD_T_G	0.004364301
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062910328
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.4425184e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-160.75446	SEABIRD_T_J	2.6404416e-06
MASS	52184	PITCH_GAIN	20	PRESSURE_SLOPE	0.000109412	SEABIRD_C_G	-9.9046793
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	1	SEABIRD_C_H	1.1251128
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019873739
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00023203803
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0033	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0082	ROLL_MIN	209	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	190513,190433,2148.784,12030.624,11,4.3,30,-2.7	TGT_NAME	DOGLEG2
_CALLS	1	TGT_LATLONG	2148.000,12100.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190513,191054,2148.783,12030.575,9,1.3,14,-2.7	MHEAD_RNG_PITCHd_Wd	108.7,50618,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	592

FINISH	0.4,1.021761	_10V_AH	13.6,0.000
SM_CCo	6872,54.90,0.149,0,0,916,450.13	FG_AHR_24Vo	0.000
SM_GC	-0.09,7.60,2.35,54.90,0.051,0.057,0.149,227,2404,916,-7.63,-0.85,450.13,0,0,0,0,0,0,14.90,14.88,14.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12016.39,190513,161609	MEM	323216
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	13466,407
HUMID	44.52	CAP_FILE_SIZE	93610,0
INTERNAL_PRESSURE	9.68787	CFSIZE	260034560,253816832
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	29	CURRENT	0.244,305.5,1
SC_FREEKB	3928896	GPS	190513,210743,2148.994,12030.817,10,1.9,10,-2.7
_24V_AH	13.7,29.689

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	419	116.01	nil	0	0	0.00
Roll_motor	66	98	90.38	nil	0	0	0.00
VBD_pump_during_apogee	420	1298	7485.88	nil	0	0	0.00
VBD_pump_during_surface	54	149	112.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	112	37.22	nil	0	0	0.00
Iridium_during_connect	18	160	40.25	SciCon	6899	6	635.15
Iridium_during_xfer	177	223	541.73	nil	0	0	0.00
Transponder_ping	7	420	41.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.95
TT8	1247	10	185.93
LPSleep	4175	2	124.37
TT8_Active	525	10	78.31
TT8_Sampling	1296	28	510.23
TT8_CF8	81	35	39.51
TT8_Kalman	0	0	0.00
Analog_circuits	1112	16	242.10
GPS_charging	0	0	0.00
Compass	961	6	88.12
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.91	-194.6	212	2436	919	919	0.0	0.0	0	113	0.00	0.00	-92.38	0.000	16386	0.000	0.000	211	2436	3268	3320	3217	0	0	0	0	0	0	28.83	28.83	28.83
115	-0.91	-194.6	211	2436	3320	3219	4.4	-15.6	16	136	10.30	2.22	-4.53	0.000	18692	0.419	0.099	2391	3758	3555	3635	3476	0	0	0	0	0	0	14.49	14.74	14.94
278	-0.91	-194.6	2392	3758	3638	3477	67.2	-29.6	30	284	0.00	2.08	0.00	0.000	1030	0.000	0.037	2392	2397	3557	3638	3477	0	0	0	0	0	0	28.83	14.83	28.83
584	-0.91	-194.6	2391	2391	3642	3477	146.9	-23.1	46	589	0.00	2.15	0.00	0.000	516	0.000	0.044	2391	1006	3559	3642	3477	0	0	0	0	0	0	28.83	14.88	28.83
729	-0.91	-194.6	1536	1005	3640	3475	176.3	-19.4	53	735	0.00	2.20	0.00	0.000	1030	0.000	0.062	2382	2373	3561	3644	3478	0	0	0	0	0	0	28.83	14.88	28.83
1047	-0.91	-194.6	2382	2373	3644	3477	240.0	-19.2	69	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2373	3561	3644	3478	0	0	0	0	0	0	28.83	28.83	28.83
1347	-0.91	-194.6	2382	2373	3646	3477	300.8	-18.0	84	1353	0.00	2.30	0.00	0.000	260	0.000	0.085	2371	3779	3561	3645	3477	0	0	0	0	0	0	28.83	14.92	28.83
1384	-0.91	-194.6	2370	3780	3646	3477	304.8	-17.5	85	1391	0.12	2.10	0.00	0.000	3078	0.274	0.038	2401	2386	3561	3646	3477	0	0	0	0	0	0	14.81	14.98	28.83
1689	-0.91	-194.6	2401	2382	3645	3475	353.9	-13.8	101	1695	0.00	2.30	0.00	0.000	260	0.000	0.086	2393	3778	3559	3645	3474	0	0	0	0	0	0	28.83	14.94	28.83
1726	-0.91	-194.6	2393	3778	3646	3474	357.1	-13.6	102	1733	0.00	2.08	0.00	0.000	1030	0.000	0.039	2393	2398	3559	3645	3474	0	0	0	0	0	0	28.83	15.01	28.83
2032	-0.91	-194.6	2393	2397	3646	3471	406.3	-15.8	118	2037	0.00	2.17	0.00	0.000	516	0.000	0.051	2393	1007	3558	3646	3471	0	0	0	0	0	0	28.83	14.99	28.83
2103	-0.91	-194.6	2393	1006	3646	3470	416.5	-16.4	121	2108	0.00	2.25	0.00	0.000	1030	0.000	0.061	2383	2407	3557	3645	3470	0	0	0	0	0	0	28.83	14.97	28.83
2415	-0.91	-194.6	2383	2407	3645	3466	473.6	-17.6	137	2416	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2407	3556	3647	3466	0	0	0	0	0	0	28.83	28.83	28.83
2716	-0.91	-194.6	2383	2407	3646	3462	523.5	-15.4	152	2721	0.00	2.20	0.00	0.000	516	0.000	0.057	2383	1017	3554	3646	3462	0	0	0	0	0	0	28.83	15.00	28.83
2748	-0.91	-194.6	2384	1016	3646	3462	527.2	-15.4	153	2754	0.12	2.22	0.00	0.000	3078	0.269	0.064	2402	2397	3553	3645	3462	0	0	0	0	0	0	14.87	14.98	28.83
3061	-0.91	-194.6	2402	2398	3644	3458	571.6	-13.3	169	3066	0.00	2.28	0.00	0.000	260	0.000	0.093	2394	3781	3551	3644	3458	0	0	0	0	0	0	28.83	14.95	28.83
3137	-0.91	-194.6	2393	3782	3642	3458	580.0	-13.2	172	3144	0.00	2.10	0.00	0.000	1030	0.000	0.044	2394	2404	3551	3643	3459	0	0	0	0	0	0	28.83	15.03	28.83
3221	end dive: TARGET_DEPTH_EXCEEDED
state	3221	begin apogee
3225	-0.25	0.0	2394	2401	3642	3457	592.7	-12.6	177	3418	0.73	0.00	183.90	1.298	10246	0.220	0.000	2608	2401	2750	2782	2718	0	0	0	0	0	0	14.85	28.83	13.76
3419	end apogee: CONTROL_FINISHED_OK
state	3419	begin climb
3421	0.91	194.6	2609	2401	2781	2717	596.7	0.0	186	3609	1.17	2.42	177.60	1.297	10756	0.129	0.055	2998	989	1953	1986	1921	0	0	0	0	0	0	14.28	14.21	13.71
3620	0.91	194.6	2999	988	1984	1915	569.6	19.4	196	3628	0.00	2.35	0.00	0.000	1030	0.000	0.063	2999	2374	1949	1984	1914	0	0	0	0	0	0	28.83	14.31	28.83
3926	0.91	194.6	2999	2375	1984	1899	498.2	20.6	212	3927	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2375	1941	1984	1899	0	0	0	0	0	0	28.83	28.83	28.83
4227	0.91	194.6	2999	2375	1984	1895	438.5	20.2	227	4233	0.00	2.33	0.00	0.000	260	0.000	0.090	2999	3777	1939	1984	1895	0	0	0	0	0	0	28.83	14.81	28.83
4253	0.91	194.6	2080	3776	1948	1886	433.6	20.4	228	4259	0.00	2.17	0.00	0.000	1030	0.000	0.043	3009	2372	1940	1984	1896	0	0	0	0	0	0	28.83	14.87	28.83
4571	0.91	194.6	3009	2367	1984	1892	363.0	21.4	244	4576	0.00	2.20	0.00	0.000	516	0.000	0.054	3019	982	1938	1984	1892	0	0	0	0	0	0	28.83	14.90	28.83
4633	0.91	194.6	3019	982	1984	1892	350.2	20.8	247	4639	0.00	2.28	0.00	0.000	1030	0.000	0.063	3020	2378	1938	1984	1892	0	0	0	0	0	0	28.83	14.88	28.83
4956	0.91	194.6	3019	2379	1984	1889	282.4	20.7	263	4961	0.00	2.33	0.00	0.000	260	0.000	0.091	3019	3778	1936	1984	1889	0	0	0	0	0	0	28.83	14.89	28.83
4987	0.91	194.6	3020	3778	1984	1889	277.5	21.0	264	4993	0.15	2.15	0.00	0.000	5126	0.314	0.042	2999	2370	1936	1984	1889	0	0	0	0	0	0	14.76	14.95	28.83
5300	0.91	194.6	2999	2366	1984	1887	221.7	17.9	280	5306	0.00	2.17	0.00	0.000	516	0.000	0.054	3007	990	1935	1984	1886	0	0	0	0	0	0	28.83	14.94	28.83
5374	0.91	194.6	3006	990	1983	1886	210.3	18.1	283	5379	0.00	2.25	0.00	0.000	1030	0.000	0.063	3007	2380	1934	1983	1886	0	0	0	0	0	0	28.83	14.92	28.83
5686	0.91	194.6	3006	2381	1983	1885	151.3	17.2	299	5691	0.00	2.30	0.00	0.000	260	0.000	0.090	3007	3775	1933	1983	1884	0	0	0	0	0	0	28.83	14.90	28.83
5868	0.91	194.6	3006	3775	1983	1885	115.2	19.2	308	5873	0.00	2.15	0.00	0.000	1030	0.000	0.042	3017	2370	1934	1983	1885	0	0	0	0	0	0	28.83	14.97	28.83
6190	0.91	194.6	3017	2366	1983	1884	67.4	15.3	324	6195	0.00	2.20	0.00	0.000	516	0.000	0.054	3027	977	1933	1983	1883	0	0	0	0	0	0	28.83	14.90	28.83
6408	0.93	212.3	3027	977	1984	1883	41.7	9.4	338	6419	0.00	2.25	5.60	0.243	9222	0.000	0.057	3027	2383	1886	1932	1840	0	0	0	0	0	0	28.83	14.92	14.76
6722	1.04	326.6	3028	2384	1941	1854	13.5	6.0	383	6783	0.00	2.30	53.80	0.184	8708	0.000	0.051	3038	983	1418	1457	1380	0	0	0	0	0	0	28.83	14.86	14.76
6833	end climb: SURFACE_DEPTH_REACHED
state	6833	begin surface coast
6855	end surface coast: CONTROL_FINISHED_OK
state	6855	begin surface