Glider dive log

OKMC Jun11 * SG167 * Dive index * Mission links * Dive 416 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 416 HEADING -1 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 5 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1875 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2075 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 3 SM_CC 576.20972 ROLL_TIMEOUT 15 XPDR_VALID 3

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 97 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 59 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 6 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.02 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 490 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

T_DIVE 340 UPLOAD_DIVES_MAX -1 C_VBD 2839 DEVICE3 35

T_MISSION 380 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 4 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -5 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -105656.74 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

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 8 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 134 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043379883

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -16.233358 SEABIRD_T_H 0.00063236553

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.4503992e-05

MASS 51876 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6444222e-06

NAV_MODE 2 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8845854

FERRY_MAX 45 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1045586

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0015691385

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020000842

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 576.20972

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3944 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 134 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 19 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 0.0001158971 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -16.233358 T_DIVE 340

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 0 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 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -105656.74

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 380

COMPASS_DEVICE 33 ID 167 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 0 ROLL_ADJ_DBAND 0.02 T_TURN 225

C_PITCH 2800 KALMAN_USE 2 ROLL_ADJ_GAIN 6 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2075 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1875 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2839 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3764 USE_BATHY -5

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51876 ROLL_MIN 187 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 97 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 59 VBD_MAX 3960

DEVICE5 -1 MISSION 8 SEABIRD_C_G -9.8845854 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1045586 VBD_MIN 490

DIVE 416 NAV_MODE 2 SEABIRD_C_I -0.0015691385 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020000842 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.0043379883 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063236553 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.4503992e-05 XPDR_INHIBIT 90

D_FLARE 5 N_NOCOMM 1 SEABIRD_T_J 2.6444222e-06 XPDR_VALID 3

Pre-dive calculations and measurements:

GPS1 100911,223531,1936.959,12129.130,901,99.0,901,-2.2 TGT_NAME S1

_CALLS 5 TGT_LATLONG 1831.410,12216.350

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.013,-0.305

_SM_DEPTHo 1.55 KALMAN_X -1531.9,-192.4,226.3,5724.7,67.3

_SM_ANGLEo -66.3 KALMAN_Y 11735.9,46.7,-129.6,-54154.7,2747.8

GPS2 100911,223531,1936.959,12129.130,901,99.0,901,-2.2 MHEAD_RNG_PITCHd_Wd 145.2,147013,-15.3,-9.706

SPEED_LIMITS 0.168,0.293 D_GRID 503

Post-dive calculations and measurements:

FINISH 0.9,1.021338 _10V_AH 9.9,66.446

SM_CCo 9280,0.00,0.000,0,0,485,577.44 FG_AHR_24Vo 0.000

SM_GC 1.66,8.02,0.00,0.00,0.042,0.000,0.000,116,1994,485,-8.31,3.36,577.44,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1814.58,12250.39,060911,121229 MEM 323984

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 63530,1060

HUMID 44.64 CAP_FILE_SIZE 115792,0

INTERNAL_PRESSURE 9.28747 CFSIZE 260165632,100937728

TCM_TEMP 26.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 72 CURRENT 1.466,355.2,1

_24V_AH 24.3,78.827 GPS 110911,072100,1943.455,12129.316,38,1.3,38,-2.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 108.49 SBE_CT 714 24 416.92

Roll_motor 81 130 258.20 AA3830 883 33 708.71

VBD_pump_during_apogee 603 992 14572.21 WL_BB2F 632 105 1613.01

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 167 103 420.43 nil 0 0 0.00

Iridium_during_connect 29 160 114.70 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 183.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 905 50 448.32

TT8 2537 19 497.39

LPSleep 3931 2 85.24

TT8_Active 643 19 126.08

TT8_Sampling 3095 39 1219.63

TT8_CF8 549 45 249.20

TT8_Kalman 0 0 0.00

Analog_circuits 1691 12 200.99

GPS_charging 0 0 0.00

Compass 2163 15 321.33

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.62 -194.6 0.0 0.0 0 113 0.00 0.00 -92.15 0.000 2 0.000 0.000 109 1911 3066 0 0 0 0 0 0

116 -0.62 -194.6 5.3 -8.7 13 146 9.88 2.05 -9.45 0.000 4 0.227 0.037 2597 498 3636 0 0 0 0 0 0

242 -0.62 -194.6 46.4 -24.3 33 249 0.00 1.95 0.00 0.000 6 0.000 0.020 2590 1882 3637 0 0 0 0 0 0

389 -0.62 -194.6 81.1 -19.7 58 398 0.00 2.05 0.00 0.000 4 0.000 0.032 2580 3270 3636 0 0 0 0 0 0

542 -0.62 -194.6 106.7 -15.9 84 549 0.00 1.70 0.00 0.000 6 0.000 0.015 2580 2022 3636 0 0 0 0 0 0

687 -0.62 -194.6 132.0 -16.4 109 693 0.00 2.17 0.00 0.000 4 0.000 0.025 2580 497 3637 0 0 0 0 0 0

771 -0.62 -194.6 144.7 -15.3 123 778 0.00 2.17 0.00 0.000 6 0.000 0.021 2574 2013 3637 0 0 0 0 0 0

912 -0.62 -194.6 166.3 -12.5 148 920 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2013 3637 0 0 0 0 0 0

1060 -0.62 -194.6 181.4 -11.6 173 1067 0.00 2.17 0.00 0.000 4 0.000 0.025 2574 508 3637 0 0 0 0 0 0

1108 -0.62 -194.6 189.0 -16.7 181 1115 0.00 2.08 0.00 0.000 6 0.000 0.021 2574 1956 3637 0 0 0 0 0 0

1249 -0.62 -194.6 205.1 -8.7 201 1252 0.00 1.92 0.00 0.000 4 0.000 0.034 2574 3271 3637 0 0 0 0 0 0

1306 -0.62 -194.6 211.2 -10.2 206 1309 0.00 1.70 0.00 0.000 6 0.000 0.016 2574 2030 3636 0 0 0 0 0 0

1637 -0.62 -194.6 241.5 -11.3 237 1641 0.00 2.17 0.00 0.000 4 0.000 0.026 2574 507 3634 0 0 0 0 0 0

1673 -0.62 -194.6 243.9 -7.7 239 1680 0.00 2.25 0.00 0.000 6 0.000 0.021 2574 2058 3634 0 0 0 0 0 0

1999 -0.62 -194.6 272.6 -6.5 270 2002 0.00 1.75 0.00 0.000 4 0.000 0.035 2574 3268 3631 0 0 0 0 0 0

2061 -0.62 -194.6 275.5 -4.9 275 2068 0.00 1.67 0.00 0.000 6 0.000 0.018 2574 2045 3630 0 0 0 0 0 0

2386 -0.62 -194.6 307.8 -10.5 306 2387 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2041 3628 0 0 0 0 0 0

2709 -0.62 -194.6 328.7 -5.6 336 2715 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2040 3625 0 0 0 0 0 0

3037 -0.62 -194.6 348.8 -9.1 367 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2040 3623 0 0 0 0 0 0

3366 -0.62 -194.6 378.4 -9.6 398 3373 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2040 3620 0 0 0 0 0 0

3697 -0.62 -194.6 410.8 -9.4 429 3701 0.00 2.22 0.00 0.000 4 0.000 0.027 2574 512 3617 0 0 0 0 0 0

3727 -0.62 -194.6 413.5 -8.4 431 3731 0.00 2.33 0.00 0.000 6 0.000 0.024 2573 2074 3617 0 0 0 0 0 0

4057 -0.62 -194.6 436.3 -8.6 462 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2074 3614 0 0 0 0 0 0

4379 -0.62 -194.6 471.3 -14.0 492 4383 0.00 2.30 0.00 0.000 4 0.000 0.028 2573 514 3611 0 0 0 0 0 0

4456 -0.62 -194.6 482.7 -13.4 498 4464 0.00 2.30 0.00 0.000 6 0.000 0.023 2573 2076 3610 0 0 0 0 0 0

4674 end dive: TARGET_DEPTH_EXCEEDED

state 4674 begin apogee

4681 -0.20 0.0 505.1 9.9 517 4836 0.47 0.00 147.95 0.993 4 0.126 0.000 2729 2076 2839 0 0 0 0 0 0

4836 end apogee: CONTROL_FINISHED_OK

state 4836 begin climb

4841 0.62 194.6 515.7 0.0 524 5008 0.73 2.17 153.25 0.958 4 0.082 0.038 3003 3458 2043 0 0 0 0 0 0

5247 0.62 194.6 466.9 16.5 552 5250 0.00 1.98 0.00 0.000 6 0.000 0.019 3011 2078 2036 0 0 0 0 0 0

5577 0.62 194.6 428.4 10.2 583 5581 0.00 2.10 0.00 0.000 4 0.000 0.036 3011 3465 2033 0 0 0 0 0 0

5801 0.62 194.6 398.6 14.4 602 5809 0.00 2.05 0.00 0.000 6 0.000 0.020 3020 2065 2032 0 0 0 0 0 0

6127 0.62 194.6 354.0 12.3 633 6130 0.00 2.03 0.00 0.000 4 0.000 0.031 3030 680 2030 0 0 0 0 0 0

6255 0.63 202.8 340.9 9.4 644 6266 0.00 1.98 5.70 0.705 6 0.000 0.022 3030 2030 2012 0 0 0 0 0 0

6593 0.84 375.1 312.5 3.9 676 6743 0.12 2.10 139.88 0.863 4 0.092 0.031 3105 692 1308 0 0 0 0 0 0

6837 0.84 375.1 271.6 17.3 697 6845 0.08 1.83 0.00 0.000 6 0.121 0.022 3077 1923 1304 0 0 0 0 0 0

7163 0.84 375.1 229.9 10.4 728 7167 0.00 2.33 0.00 0.000 4 0.000 0.037 3077 3471 1298 0 0 0 0 0 0

7248 0.84 375.1 218.2 14.2 735 7253 0.00 2.17 0.00 0.000 6 0.000 0.021 3083 1991 1296 0 0 0 0 0 0

7584 0.84 375.1 166.5 14.8 785 7591 0.00 1.92 0.00 0.000 4 0.000 0.033 3093 680 1295 0 0 0 0 0 0

7790 0.84 375.1 137.6 13.3 822 7798 0.00 1.80 0.00 0.000 6 0.000 0.022 3093 1908 1295 0 0 0 0 0 0

7935 0.84 375.1 116.2 13.6 847 7942 0.00 2.30 0.00 0.000 4 0.000 0.036 3093 3466 1294 0 0 0 0 0 0

8021 0.84 375.1 106.1 10.9 862 8029 0.00 2.12 0.00 0.000 6 0.000 0.019 3100 2006 1293 0 0 0 0 0 0

8165 0.84 375.1 90.8 12.2 887 8173 0.00 1.95 0.00 0.000 4 0.000 0.031 3111 686 1293 0 0 0 0 0 0

8250 0.84 375.1 80.4 11.4 902 8258 0.10 1.73 0.00 0.000 6 0.108 0.021 3073 1888 1293 0 0 0 0 0 0

8396 0.84 375.1 66.4 9.8 927 8403 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 1889 1293 0 0 0 0 0 0

8535 0.98 482.3 58.5 6.1 952 8628 0.12 1.83 84.65 0.641 4 0.090 0.028 3139 682 871 0 0 0 0 0 0

8638 0.98 482.3 48.4 10.5 966 8646 0.00 1.60 0.00 0.000 6 0.000 0.018 3138 1796 871 0 0 0 0 0 0

8780 1.07 555.7 36.0 7.2 991 8845 0.00 2.60 56.67 0.605 4 0.000 0.033 3139 3469 570 0 0 0 0 0 0

8888 1.07 555.7 26.5 9.9 1007 8896 0.00 2.45 0.00 0.000 6 0.000 0.019 3139 1796 567 0 0 0 0 0 0

9032 1.13 606.5 14.6 8.0 1032 9054 0.00 1.62 15.82 0.554 4 0.000 0.030 3142 686 488 0 0 0 0 0 0

9137 1.23 691.1 6.7 6.9 1050 9147 0.12 1.55 0.00 0.000 6 0.050 0.018 3217 1799 487 0 0 0 0 0 0

9169 end climb: SURFACE_DEPTH_REACHED

state 9169 begin surface coast

9200 end surface coast: CONTROL_FINISHED_OK

state 9200 begin surface

ID	167	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	416	HEADING	-1	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	5	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1875	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2075	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	3	SM_CC	576.20972	ROLL_TIMEOUT	15	XPDR_VALID	3
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	97	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	59	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	6	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.02	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	490	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
T_DIVE	340	UPLOAD_DIVES_MAX	-1	C_VBD	2839	DEVICE3	35
T_MISSION	380	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	4	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-5	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-105656.74	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
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	8	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	134	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043379883
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-16.233358	SEABIRD_T_H	0.00063236553
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.4503992e-05
MASS	51876	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6444222e-06
NAV_MODE	2	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8845854
FERRY_MAX	45	PITCH_TIMEOUT	19	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1045586
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0015691385
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020000842

GPS1	100911,223531,1936.959,12129.130,901,99.0,901,-2.2	TGT_NAME	S1
_CALLS	5	TGT_LATLONG	1831.410,12216.350
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.013,-0.305
_SM_DEPTHo	1.55	KALMAN_X	-1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo	-66.3	KALMAN_Y	11735.9,46.7,-129.6,-54154.7,2747.8
GPS2	100911,223531,1936.959,12129.130,901,99.0,901,-2.2	MHEAD_RNG_PITCHd_Wd	145.2,147013,-15.3,-9.706
SPEED_LIMITS	0.168,0.293	D_GRID	503

FINISH	0.9,1.021338	_10V_AH	9.9,66.446
SM_CCo	9280,0.00,0.000,0,0,485,577.44	FG_AHR_24Vo	0.000
SM_GC	1.66,8.02,0.00,0.00,0.042,0.000,0.000,116,1994,485,-8.31,3.36,577.44,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1814.58,12250.39,060911,121229	MEM	323984
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	63530,1060
HUMID	44.64	CAP_FILE_SIZE	115792,0
INTERNAL_PRESSURE	9.28747	CFSIZE	260165632,100937728
TCM_TEMP	26.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	72	CURRENT	1.466,355.2,1
_24V_AH	24.3,78.827	GPS	110911,072100,1943.455,12129.316,38,1.3,38,-2.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	108.49	SBE_CT	714	24	416.92
Roll_motor	81	130	258.20	AA3830	883	33	708.71
VBD_pump_during_apogee	603	992	14572.21	WL_BB2F	632	105	1613.01
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	167	103	420.43	nil	0	0	0.00
Iridium_during_connect	29	160	114.70	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	183.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	905	50	448.32
TT8	2537	19	497.39
LPSleep	3931	2	85.24
TT8_Active	643	19	126.08
TT8_Sampling	3095	39	1219.63
TT8_CF8	549	45	249.20
TT8_Kalman	0	0	0.00
Analog_circuits	1691	12	200.99
GPS_charging	0	0	0.00
Compass	2163	15	321.33
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.62	-194.6	0.0	0.0	0	113	0.00	0.00	-92.15	0.000	2	0.000	0.000	109	1911	3066	0	0	0	0	0	0
116	-0.62	-194.6	5.3	-8.7	13	146	9.88	2.05	-9.45	0.000	4	0.227	0.037	2597	498	3636	0	0	0	0	0	0
242	-0.62	-194.6	46.4	-24.3	33	249	0.00	1.95	0.00	0.000	6	0.000	0.020	2590	1882	3637	0	0	0	0	0	0
389	-0.62	-194.6	81.1	-19.7	58	398	0.00	2.05	0.00	0.000	4	0.000	0.032	2580	3270	3636	0	0	0	0	0	0
542	-0.62	-194.6	106.7	-15.9	84	549	0.00	1.70	0.00	0.000	6	0.000	0.015	2580	2022	3636	0	0	0	0	0	0
687	-0.62	-194.6	132.0	-16.4	109	693	0.00	2.17	0.00	0.000	4	0.000	0.025	2580	497	3637	0	0	0	0	0	0
771	-0.62	-194.6	144.7	-15.3	123	778	0.00	2.17	0.00	0.000	6	0.000	0.021	2574	2013	3637	0	0	0	0	0	0
912	-0.62	-194.6	166.3	-12.5	148	920	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2013	3637	0	0	0	0	0	0
1060	-0.62	-194.6	181.4	-11.6	173	1067	0.00	2.17	0.00	0.000	4	0.000	0.025	2574	508	3637	0	0	0	0	0	0
1108	-0.62	-194.6	189.0	-16.7	181	1115	0.00	2.08	0.00	0.000	6	0.000	0.021	2574	1956	3637	0	0	0	0	0	0
1249	-0.62	-194.6	205.1	-8.7	201	1252	0.00	1.92	0.00	0.000	4	0.000	0.034	2574	3271	3637	0	0	0	0	0	0
1306	-0.62	-194.6	211.2	-10.2	206	1309	0.00	1.70	0.00	0.000	6	0.000	0.016	2574	2030	3636	0	0	0	0	0	0
1637	-0.62	-194.6	241.5	-11.3	237	1641	0.00	2.17	0.00	0.000	4	0.000	0.026	2574	507	3634	0	0	0	0	0	0
1673	-0.62	-194.6	243.9	-7.7	239	1680	0.00	2.25	0.00	0.000	6	0.000	0.021	2574	2058	3634	0	0	0	0	0	0
1999	-0.62	-194.6	272.6	-6.5	270	2002	0.00	1.75	0.00	0.000	4	0.000	0.035	2574	3268	3631	0	0	0	0	0	0
2061	-0.62	-194.6	275.5	-4.9	275	2068	0.00	1.67	0.00	0.000	6	0.000	0.018	2574	2045	3630	0	0	0	0	0	0
2386	-0.62	-194.6	307.8	-10.5	306	2387	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2041	3628	0	0	0	0	0	0
2709	-0.62	-194.6	328.7	-5.6	336	2715	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2040	3625	0	0	0	0	0	0
3037	-0.62	-194.6	348.8	-9.1	367	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2040	3623	0	0	0	0	0	0
3366	-0.62	-194.6	378.4	-9.6	398	3373	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2040	3620	0	0	0	0	0	0
3697	-0.62	-194.6	410.8	-9.4	429	3701	0.00	2.22	0.00	0.000	4	0.000	0.027	2574	512	3617	0	0	0	0	0	0
3727	-0.62	-194.6	413.5	-8.4	431	3731	0.00	2.33	0.00	0.000	6	0.000	0.024	2573	2074	3617	0	0	0	0	0	0
4057	-0.62	-194.6	436.3	-8.6	462	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2074	3614	0	0	0	0	0	0
4379	-0.62	-194.6	471.3	-14.0	492	4383	0.00	2.30	0.00	0.000	4	0.000	0.028	2573	514	3611	0	0	0	0	0	0
4456	-0.62	-194.6	482.7	-13.4	498	4464	0.00	2.30	0.00	0.000	6	0.000	0.023	2573	2076	3610	0	0	0	0	0	0
4674	end dive: TARGET_DEPTH_EXCEEDED
state	4674	begin apogee
4681	-0.20	0.0	505.1	9.9	517	4836	0.47	0.00	147.95	0.993	4	0.126	0.000	2729	2076	2839	0	0	0	0	0	0
4836	end apogee: CONTROL_FINISHED_OK
state	4836	begin climb
4841	0.62	194.6	515.7	0.0	524	5008	0.73	2.17	153.25	0.958	4	0.082	0.038	3003	3458	2043	0	0	0	0	0	0
5247	0.62	194.6	466.9	16.5	552	5250	0.00	1.98	0.00	0.000	6	0.000	0.019	3011	2078	2036	0	0	0	0	0	0
5577	0.62	194.6	428.4	10.2	583	5581	0.00	2.10	0.00	0.000	4	0.000	0.036	3011	3465	2033	0	0	0	0	0	0
5801	0.62	194.6	398.6	14.4	602	5809	0.00	2.05	0.00	0.000	6	0.000	0.020	3020	2065	2032	0	0	0	0	0	0
6127	0.62	194.6	354.0	12.3	633	6130	0.00	2.03	0.00	0.000	4	0.000	0.031	3030	680	2030	0	0	0	0	0	0
6255	0.63	202.8	340.9	9.4	644	6266	0.00	1.98	5.70	0.705	6	0.000	0.022	3030	2030	2012	0	0	0	0	0	0
6593	0.84	375.1	312.5	3.9	676	6743	0.12	2.10	139.88	0.863	4	0.092	0.031	3105	692	1308	0	0	0	0	0	0
6837	0.84	375.1	271.6	17.3	697	6845	0.08	1.83	0.00	0.000	6	0.121	0.022	3077	1923	1304	0	0	0	0	0	0
7163	0.84	375.1	229.9	10.4	728	7167	0.00	2.33	0.00	0.000	4	0.000	0.037	3077	3471	1298	0	0	0	0	0	0
7248	0.84	375.1	218.2	14.2	735	7253	0.00	2.17	0.00	0.000	6	0.000	0.021	3083	1991	1296	0	0	0	0	0	0
7584	0.84	375.1	166.5	14.8	785	7591	0.00	1.92	0.00	0.000	4	0.000	0.033	3093	680	1295	0	0	0	0	0	0
7790	0.84	375.1	137.6	13.3	822	7798	0.00	1.80	0.00	0.000	6	0.000	0.022	3093	1908	1295	0	0	0	0	0	0
7935	0.84	375.1	116.2	13.6	847	7942	0.00	2.30	0.00	0.000	4	0.000	0.036	3093	3466	1294	0	0	0	0	0	0
8021	0.84	375.1	106.1	10.9	862	8029	0.00	2.12	0.00	0.000	6	0.000	0.019	3100	2006	1293	0	0	0	0	0	0
8165	0.84	375.1	90.8	12.2	887	8173	0.00	1.95	0.00	0.000	4	0.000	0.031	3111	686	1293	0	0	0	0	0	0
8250	0.84	375.1	80.4	11.4	902	8258	0.10	1.73	0.00	0.000	6	0.108	0.021	3073	1888	1293	0	0	0	0	0	0
8396	0.84	375.1	66.4	9.8	927	8403	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	1889	1293	0	0	0	0	0	0
8535	0.98	482.3	58.5	6.1	952	8628	0.12	1.83	84.65	0.641	4	0.090	0.028	3139	682	871	0	0	0	0	0	0
8638	0.98	482.3	48.4	10.5	966	8646	0.00	1.60	0.00	0.000	6	0.000	0.018	3138	1796	871	0	0	0	0	0	0
8780	1.07	555.7	36.0	7.2	991	8845	0.00	2.60	56.67	0.605	4	0.000	0.033	3139	3469	570	0	0	0	0	0	0
8888	1.07	555.7	26.5	9.9	1007	8896	0.00	2.45	0.00	0.000	6	0.000	0.019	3139	1796	567	0	0	0	0	0	0
9032	1.13	606.5	14.6	8.0	1032	9054	0.00	1.62	15.82	0.554	4	0.000	0.030	3142	686	488	0	0	0	0	0	0
9137	1.23	691.1	6.7	6.9	1050	9147	0.12	1.55	0.00	0.000	6	0.050	0.018	3217	1799	487	0	0	0	0	0	0
9169	end climb: SURFACE_DEPTH_REACHED
state	9169	begin surface coast
9200	end surface coast: CONTROL_FINISHED_OK
state	9200	begin surface