Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 25 * 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 25 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 59 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 31 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 -95703.594 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 -95703.594

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 59 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 31 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 25 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 190513,210743,2148.994,12030.817,10,1.9,10,-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 -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190513,211406,2149.001,12030.710,9,1.8,14,-2.7 MHEAD_RNG_PITCHd_Wd 119.6,50400,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 592

Post-dive calculations and measurements:

FINISH -0.2,1.021778 _10V_AH 13.7,0.000

SM_CCo 7013,92.28,0.148,0,0,915,450.13 FG_AHR_24Vo 0.000

SM_GC 0.03,7.50,0.08,92.28,0.054,0.177,0.148,231,2402,915,-7.61,-1.02,450.13,0,0,0,0,0,0,14.93,14.91,14.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12117.74,190513,191952 MEM 323264

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 13434,419

HUMID 44.09 CAP_FILE_SIZE 95334,0

INTERNAL_PRESSURE 9.69764 CFSIZE 260034560,253739008

TCM_TEMP 24.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 27 CURRENT 0.195,313.4,1

SC_FREEKB 3928512 GPS 190513,231423,2149.155,12031.141,23,0.9,40,-2.7

_24V_AH 13.7,29.878

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 414 114.32 nil 0 0 0.00

Roll_motor 66 177 162.18 nil 0 0 0.00

VBD_pump_during_apogee 373 1327 6797.05 nil 0 0 0.00

VBD_pump_during_surface 92 147 186.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 112 42.35 nil 0 0 0.00

Iridium_during_connect 41 160 90.76 SciCon 7030 6 651.93

Iridium_during_xfer 162 223 494.99 nil 0 0 0.00

Transponder_ping 6 420 38.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.92

TT8 1293 10 194.24

LPSleep 4294 2 128.83

TT8_Active 539 10 81.03

TT8_Sampling 1300 28 515.53

TT8_CF8 80 35 39.24

TT8_Kalman 0 0 0.00

Analog_circuits 1113 16 244.04

GPS_charging 0 0 0.00

Compass 966 6 89.22

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 -194.6 206 2412 916 919 0.0 0.0 0 108 0.00 0.00 -87.65 0.000 16386 0.000 0.000 206 2412 3097 3146 3049 0 0 0 0 0 0 28.83 28.83 28.83

110 -0.91 -194.6 206 2412 3146 3051 3.2 -10.0 15 137 10.23 2.28 -8.02 0.000 18692 0.415 0.103 2391 3777 3549 3637 3461 0 0 0 0 0 0 14.51 14.73 14.96

274 -0.91 -194.6 2391 3777 3637 3466 66.8 -32.8 31 280 0.00 2.12 0.00 0.000 1030 0.000 0.038 2391 2383 3552 3638 3466 0 0 0 0 0 0 28.83 14.82 28.83

586 -0.91 -194.6 2391 2380 3638 3469 144.3 -21.8 47 592 0.00 2.12 0.00 0.000 516 0.000 0.044 2391 1004 3553 3638 3469 0 0 0 0 0 0 28.83 14.89 28.83

652 -0.91 -194.6 1536 1003 3635 3466 157.0 -20.8 50 657 0.00 2.25 0.00 0.000 1030 0.000 0.060 2381 2402 3553 3638 3469 0 0 0 0 0 0 28.83 14.88 28.83

969 -0.91 -194.6 2380 2402 3638 3470 224.0 -20.1 66 975 0.00 2.22 0.00 0.000 260 0.000 0.081 2370 3777 3553 3638 3469 0 0 0 0 0 0 28.83 14.90 28.83

985 -0.91 -194.6 2370 3777 3639 3469 224.0 -20.1 66 994 0.15 2.08 0.00 0.000 3078 0.271 0.038 2403 2395 3554 3639 3470 0 0 0 0 0 0 14.80 14.96 28.83

1291 -0.91 -194.6 2404 2390 3640 3469 284.6 -19.6 82 1297 0.00 2.12 0.00 0.000 516 0.000 0.048 2404 1016 3554 3640 3469 0 0 0 0 0 0 28.83 14.97 28.83

1458 -0.91 -194.6 1540 1015 3636 3462 310.5 -15.0 90 1463 0.00 2.22 0.00 0.000 1030 0.000 0.062 2397 2402 3554 3640 3469 0 0 0 0 0 0 28.83 14.95 28.83

1775 -0.91 -194.6 2402 2402 3640 3467 361.6 -15.6 106 1780 0.00 2.25 0.00 0.000 260 0.000 0.086 2386 3787 3553 3640 3466 0 0 0 0 0 0 28.83 14.95 28.83

1837 -0.91 -194.6 2386 3787 3640 3464 372.4 -17.0 109 1843 0.00 2.10 0.00 0.000 1030 0.000 0.041 2386 2406 3552 3640 3464 0 0 0 0 0 0 28.83 15.01 28.83

2160 -0.91 -194.6 2386 2401 3640 3462 425.3 -17.1 125 2161 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2401 3551 3640 3463 0 0 0 0 0 0 28.83 28.83 28.83

2460 -0.91 -194.6 2387 2401 3640 3457 474.1 -16.1 140 2466 0.00 2.17 0.00 0.000 516 0.000 0.056 2386 1010 3549 3640 3458 0 0 0 0 0 0 28.83 15.00 28.83

2491 -0.91 -194.6 2386 1010 3640 3457 477.5 -15.5 141 2497 0.12 2.22 0.00 0.000 3078 0.277 0.063 2405 2399 3548 3640 3457 0 0 0 0 0 0 14.87 14.98 28.83

2804 -0.91 -194.6 2405 2399 3640 3454 519.8 -12.6 157 2805 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2399 3547 3640 3454 0 0 0 0 0 0 28.83 28.83 28.83

3105 -0.91 -194.6 2405 2399 3638 3451 559.7 -14.1 172 3110 0.00 2.28 0.00 0.000 260 0.000 0.094 2397 3781 3544 3638 3451 0 0 0 0 0 0 28.83 14.95 28.83

3222 -0.91 -194.6 2398 3781 3637 3450 576.7 -17.2 177 3228 0.00 2.12 0.00 0.000 1030 0.000 0.044 2396 2390 3543 3637 3450 0 0 0 0 0 0 28.83 15.02 28.83

3306 end dive: TARGET_DEPTH_EXCEEDED

state 3306 begin apogee

3309 -0.25 0.0 2397 2389 3636 3450 592.4 -15.3 182 3492 0.73 0.00 174.23 1.327 10246 0.216 0.000 2612 2388 2749 2782 2717 0 0 0 0 0 0 14.85 28.83 13.76

3493 end apogee: CONTROL_FINISHED_OK

state 3494 begin climb

3495 0.91 194.6 2612 2388 2780 2715 596.3 0.0 191 3683 1.12 2.45 177.75 1.298 10500 0.116 0.091 2984 3778 1954 1987 1921 0 0 0 0 0 0 14.30 14.20 13.72

3719 0.91 194.6 2984 3780 1984 1913 564.9 20.3 202 3725 0.00 2.25 0.00 0.000 1030 0.000 0.042 2995 2367 1948 1984 1912 0 0 0 0 0 0 28.83 14.45 28.83

4031 0.91 194.6 2995 2363 1984 1894 498.6 21.1 218 4033 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2363 1941 1984 1899 0 0 0 0 0 0 28.83 28.83 28.83

4333 0.91 194.6 2995 2363 1984 1895 434.6 21.3 233 4338 0.00 2.38 0.00 0.000 260 0.000 0.090 2995 3774 1939 1984 1895 0 0 0 0 0 0 28.83 14.82 28.83

4384 0.91 194.6 2995 3774 1984 1895 424.4 22.4 235 4389 0.00 2.17 0.00 0.000 1030 0.000 0.044 3005 2372 1939 1984 1895 0 0 0 0 0 0 28.83 14.88 28.83

4696 0.91 194.6 3006 2367 1984 1892 356.7 21.8 251 4702 0.00 2.22 0.00 0.000 516 0.000 0.056 3016 976 1938 1984 1893 0 0 0 0 0 0 28.83 14.91 28.83

4728 0.91 194.6 3016 976 1984 1892 351.9 21.6 252 4733 0.00 2.28 0.00 0.000 1030 0.000 0.060 3016 2383 1938 1984 1892 0 0 0 0 0 0 28.83 14.90 28.83

5040 0.91 194.6 3016 2383 1984 1889 287.5 19.8 268 5046 0.00 2.30 0.00 0.000 260 0.000 0.089 3016 3777 1936 1983 1890 0 0 0 0 0 0 28.83 14.90 28.83

5092 0.91 194.6 3016 3776 1984 1890 279.2 19.2 270 5098 0.15 2.17 0.00 0.000 5126 0.316 0.043 2995 2360 1937 1984 1890 0 0 0 0 0 0 14.76 14.95 28.83

5405 0.91 194.6 2995 2355 1983 1887 223.4 17.3 286 5410 0.00 2.17 0.00 0.000 516 0.000 0.055 3003 984 1935 1984 1887 0 0 0 0 0 0 28.83 14.95 28.83

5511 0.91 194.6 2064 984 1946 1878 206.7 16.2 291 5516 0.00 2.25 0.00 0.000 1030 0.000 0.062 3003 2378 1935 1982 1888 0 0 0 0 0 0 28.83 14.93 28.83

5829 0.91 194.6 3003 2378 1983 1886 146.9 19.9 307 5834 0.00 2.33 0.00 0.000 260 0.000 0.091 3003 3782 1934 1982 1886 0 0 0 0 0 0 28.83 14.90 28.83

5911 0.91 194.6 3003 3783 1982 1886 129.9 20.7 311 5917 0.00 2.15 0.00 0.000 1030 0.000 0.041 3013 2373 1934 1982 1886 0 0 0 0 0 0 28.83 14.97 28.83

6233 0.91 194.6 3014 2372 1983 1880 77.6 15.0 327 6239 0.00 2.20 0.00 0.000 516 0.000 0.053 3024 979 1933 1982 1885 0 0 0 0 0 0 28.83 14.96 28.83

6312 0.91 194.6 3024 979 1982 1885 68.5 14.7 330 6319 0.12 2.25 0.00 0.000 5126 0.275 0.060 2997 2379 1933 1982 1885 0 0 0 0 0 0 14.79 14.92 28.83

6617 0.93 218.7 2998 2379 1983 1884 32.3 9.2 354 6633 0.00 2.33 8.50 0.234 8452 0.000 0.085 2997 3771 1863 1905 1822 0 0 0 0 0 0 28.83 14.88 14.78

6775 0.96 243.6 2048 3770 1875 1822 18.9 9.1 376 6795 0.00 2.15 13.32 0.203 9222 0.000 0.039 3005 2354 1757 1799 1716 0 0 0 0 0 0 28.83 14.94 14.79

6965 end climb: SURFACE_DEPTH_REACHED

state 6966 begin surface coast

6998 end surface coast: CONTROL_FINISHED_OK

state 6998 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	25	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	59	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	31	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	-95703.594	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	190513,210743,2148.994,12030.817,10,1.9,10,-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	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190513,211406,2149.001,12030.710,9,1.8,14,-2.7	MHEAD_RNG_PITCHd_Wd	119.6,50400,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	592

FINISH	-0.2,1.021778	_10V_AH	13.7,0.000
SM_CCo	7013,92.28,0.148,0,0,915,450.13	FG_AHR_24Vo	0.000
SM_GC	0.03,7.50,0.08,92.28,0.054,0.177,0.148,231,2402,915,-7.61,-1.02,450.13,0,0,0,0,0,0,14.93,14.91,14.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12117.74,190513,191952	MEM	323264
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	13434,419
HUMID	44.09	CAP_FILE_SIZE	95334,0
INTERNAL_PRESSURE	9.69764	CFSIZE	260034560,253739008
TCM_TEMP	24.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	27	CURRENT	0.195,313.4,1
SC_FREEKB	3928512	GPS	190513,231423,2149.155,12031.141,23,0.9,40,-2.7
_24V_AH	13.7,29.878

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	414	114.32	nil	0	0	0.00
Roll_motor	66	177	162.18	nil	0	0	0.00
VBD_pump_during_apogee	373	1327	6797.05	nil	0	0	0.00
VBD_pump_during_surface	92	147	186.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	112	42.35	nil	0	0	0.00
Iridium_during_connect	41	160	90.76	SciCon	7030	6	651.93
Iridium_during_xfer	162	223	494.99	nil	0	0	0.00
Transponder_ping	6	420	38.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.92
TT8	1293	10	194.24
LPSleep	4294	2	128.83
TT8_Active	539	10	81.03
TT8_Sampling	1300	28	515.53
TT8_CF8	80	35	39.24
TT8_Kalman	0	0	0.00
Analog_circuits	1113	16	244.04
GPS_charging	0	0	0.00
Compass	966	6	89.22
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	206	2412	916	919	0.0	0.0	0	108	0.00	0.00	-87.65	0.000	16386	0.000	0.000	206	2412	3097	3146	3049	0	0	0	0	0	0	28.83	28.83	28.83
110	-0.91	-194.6	206	2412	3146	3051	3.2	-10.0	15	137	10.23	2.28	-8.02	0.000	18692	0.415	0.103	2391	3777	3549	3637	3461	0	0	0	0	0	0	14.51	14.73	14.96
274	-0.91	-194.6	2391	3777	3637	3466	66.8	-32.8	31	280	0.00	2.12	0.00	0.000	1030	0.000	0.038	2391	2383	3552	3638	3466	0	0	0	0	0	0	28.83	14.82	28.83
586	-0.91	-194.6	2391	2380	3638	3469	144.3	-21.8	47	592	0.00	2.12	0.00	0.000	516	0.000	0.044	2391	1004	3553	3638	3469	0	0	0	0	0	0	28.83	14.89	28.83
652	-0.91	-194.6	1536	1003	3635	3466	157.0	-20.8	50	657	0.00	2.25	0.00	0.000	1030	0.000	0.060	2381	2402	3553	3638	3469	0	0	0	0	0	0	28.83	14.88	28.83
969	-0.91	-194.6	2380	2402	3638	3470	224.0	-20.1	66	975	0.00	2.22	0.00	0.000	260	0.000	0.081	2370	3777	3553	3638	3469	0	0	0	0	0	0	28.83	14.90	28.83
985	-0.91	-194.6	2370	3777	3639	3469	224.0	-20.1	66	994	0.15	2.08	0.00	0.000	3078	0.271	0.038	2403	2395	3554	3639	3470	0	0	0	0	0	0	14.80	14.96	28.83
1291	-0.91	-194.6	2404	2390	3640	3469	284.6	-19.6	82	1297	0.00	2.12	0.00	0.000	516	0.000	0.048	2404	1016	3554	3640	3469	0	0	0	0	0	0	28.83	14.97	28.83
1458	-0.91	-194.6	1540	1015	3636	3462	310.5	-15.0	90	1463	0.00	2.22	0.00	0.000	1030	0.000	0.062	2397	2402	3554	3640	3469	0	0	0	0	0	0	28.83	14.95	28.83
1775	-0.91	-194.6	2402	2402	3640	3467	361.6	-15.6	106	1780	0.00	2.25	0.00	0.000	260	0.000	0.086	2386	3787	3553	3640	3466	0	0	0	0	0	0	28.83	14.95	28.83
1837	-0.91	-194.6	2386	3787	3640	3464	372.4	-17.0	109	1843	0.00	2.10	0.00	0.000	1030	0.000	0.041	2386	2406	3552	3640	3464	0	0	0	0	0	0	28.83	15.01	28.83
2160	-0.91	-194.6	2386	2401	3640	3462	425.3	-17.1	125	2161	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2401	3551	3640	3463	0	0	0	0	0	0	28.83	28.83	28.83
2460	-0.91	-194.6	2387	2401	3640	3457	474.1	-16.1	140	2466	0.00	2.17	0.00	0.000	516	0.000	0.056	2386	1010	3549	3640	3458	0	0	0	0	0	0	28.83	15.00	28.83
2491	-0.91	-194.6	2386	1010	3640	3457	477.5	-15.5	141	2497	0.12	2.22	0.00	0.000	3078	0.277	0.063	2405	2399	3548	3640	3457	0	0	0	0	0	0	14.87	14.98	28.83
2804	-0.91	-194.6	2405	2399	3640	3454	519.8	-12.6	157	2805	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2399	3547	3640	3454	0	0	0	0	0	0	28.83	28.83	28.83
3105	-0.91	-194.6	2405	2399	3638	3451	559.7	-14.1	172	3110	0.00	2.28	0.00	0.000	260	0.000	0.094	2397	3781	3544	3638	3451	0	0	0	0	0	0	28.83	14.95	28.83
3222	-0.91	-194.6	2398	3781	3637	3450	576.7	-17.2	177	3228	0.00	2.12	0.00	0.000	1030	0.000	0.044	2396	2390	3543	3637	3450	0	0	0	0	0	0	28.83	15.02	28.83
3306	end dive: TARGET_DEPTH_EXCEEDED
state	3306	begin apogee
3309	-0.25	0.0	2397	2389	3636	3450	592.4	-15.3	182	3492	0.73	0.00	174.23	1.327	10246	0.216	0.000	2612	2388	2749	2782	2717	0	0	0	0	0	0	14.85	28.83	13.76
3493	end apogee: CONTROL_FINISHED_OK
state	3494	begin climb
3495	0.91	194.6	2612	2388	2780	2715	596.3	0.0	191	3683	1.12	2.45	177.75	1.298	10500	0.116	0.091	2984	3778	1954	1987	1921	0	0	0	0	0	0	14.30	14.20	13.72
3719	0.91	194.6	2984	3780	1984	1913	564.9	20.3	202	3725	0.00	2.25	0.00	0.000	1030	0.000	0.042	2995	2367	1948	1984	1912	0	0	0	0	0	0	28.83	14.45	28.83
4031	0.91	194.6	2995	2363	1984	1894	498.6	21.1	218	4033	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2363	1941	1984	1899	0	0	0	0	0	0	28.83	28.83	28.83
4333	0.91	194.6	2995	2363	1984	1895	434.6	21.3	233	4338	0.00	2.38	0.00	0.000	260	0.000	0.090	2995	3774	1939	1984	1895	0	0	0	0	0	0	28.83	14.82	28.83
4384	0.91	194.6	2995	3774	1984	1895	424.4	22.4	235	4389	0.00	2.17	0.00	0.000	1030	0.000	0.044	3005	2372	1939	1984	1895	0	0	0	0	0	0	28.83	14.88	28.83
4696	0.91	194.6	3006	2367	1984	1892	356.7	21.8	251	4702	0.00	2.22	0.00	0.000	516	0.000	0.056	3016	976	1938	1984	1893	0	0	0	0	0	0	28.83	14.91	28.83
4728	0.91	194.6	3016	976	1984	1892	351.9	21.6	252	4733	0.00	2.28	0.00	0.000	1030	0.000	0.060	3016	2383	1938	1984	1892	0	0	0	0	0	0	28.83	14.90	28.83
5040	0.91	194.6	3016	2383	1984	1889	287.5	19.8	268	5046	0.00	2.30	0.00	0.000	260	0.000	0.089	3016	3777	1936	1983	1890	0	0	0	0	0	0	28.83	14.90	28.83
5092	0.91	194.6	3016	3776	1984	1890	279.2	19.2	270	5098	0.15	2.17	0.00	0.000	5126	0.316	0.043	2995	2360	1937	1984	1890	0	0	0	0	0	0	14.76	14.95	28.83
5405	0.91	194.6	2995	2355	1983	1887	223.4	17.3	286	5410	0.00	2.17	0.00	0.000	516	0.000	0.055	3003	984	1935	1984	1887	0	0	0	0	0	0	28.83	14.95	28.83
5511	0.91	194.6	2064	984	1946	1878	206.7	16.2	291	5516	0.00	2.25	0.00	0.000	1030	0.000	0.062	3003	2378	1935	1982	1888	0	0	0	0	0	0	28.83	14.93	28.83
5829	0.91	194.6	3003	2378	1983	1886	146.9	19.9	307	5834	0.00	2.33	0.00	0.000	260	0.000	0.091	3003	3782	1934	1982	1886	0	0	0	0	0	0	28.83	14.90	28.83
5911	0.91	194.6	3003	3783	1982	1886	129.9	20.7	311	5917	0.00	2.15	0.00	0.000	1030	0.000	0.041	3013	2373	1934	1982	1886	0	0	0	0	0	0	28.83	14.97	28.83
6233	0.91	194.6	3014	2372	1983	1880	77.6	15.0	327	6239	0.00	2.20	0.00	0.000	516	0.000	0.053	3024	979	1933	1982	1885	0	0	0	0	0	0	28.83	14.96	28.83
6312	0.91	194.6	3024	979	1982	1885	68.5	14.7	330	6319	0.12	2.25	0.00	0.000	5126	0.275	0.060	2997	2379	1933	1982	1885	0	0	0	0	0	0	14.79	14.92	28.83
6617	0.93	218.7	2998	2379	1983	1884	32.3	9.2	354	6633	0.00	2.33	8.50	0.234	8452	0.000	0.085	2997	3771	1863	1905	1822	0	0	0	0	0	0	28.83	14.88	14.78
6775	0.96	243.6	2048	3770	1875	1822	18.9	9.1	376	6795	0.00	2.15	13.32	0.203	9222	0.000	0.039	3005	2354	1757	1799	1716	0	0	0	0	0	0	28.83	14.94	14.79
6965	end climb: SURFACE_DEPTH_REACHED
state	6966	begin surface coast
6998	end surface coast: CONTROL_FINISHED_OK
state	6998	begin surface