Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 42 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2275 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 68 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 52 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968541.62 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968541.62

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2275 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 68 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 42 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 211012,213600,2225.540,12112.828,38,1.6,38,-3.3 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,214158,2225.683,12112.814,4,1.6,4,-3.3 MHEAD_RNG_PITCHd_Wd 29.3,73647,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 517

Post-dive calculations and measurements:

FINISH 0.8,1.014033 _10V_AH 10.5,8.488

SM_CCo 9630,0.00,0.000,0,0,452,617.17 FG_AHR_24Vo 0.000

SM_GC 1.40,7.25,0.00,0.00,0.027,0.000,0.000,103,2241,452,-8.12,-0.96,617.17,0,0,0,0,0,0,26.49,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2216.01,12109.42,211012,181816 MEM 323820

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20113,548

HUMID 54.56 CAP_FILE_SIZE 122087,0

INTERNAL_PRESSURE 9.42419 CFSIZE 260165632,245862400

TCM_TEMP 25.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 5 CURRENT 0.343, 11.9,1

ALTIM_BOTTOM_PING 500.2,6.7 GPS 221012,002405,2228.837,12113.950,27,1.3,27,-3.3

_24V_AH 24.0,15.820

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 109.17 nil 0 0 0.00

Roll_motor 62 49 74.62 nil 0 0 0.00

VBD_pump_during_apogee 642 1298 20037.91 nil 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9568 16 3697.30

Iridium_during_xfer 207 123 616.95 nil 0 0 0.00

Transponder_ping 1 420 17.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.64

TT8 1657 14 255.97

LPSleep 5911 2 135.93

TT8_Active 657 14 101.56

TT8_Sampling 1546 37 615.74

TT8_CF8 224 44 105.18

TT8_Kalman 0 0 0.00

Analog_circuits 1627 16 273.41

GPS_charging 0 0 0.00

Compass 1280 8 110.81

RAFOS 0 0 0.00

Transponder 5 30 1.72

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 96 0.00 0.00 -75.80 0.000 2 0.000 0.000 105 2257 2494 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.47 -195.5 3.2 -5.8 13 143 9.62 0.00 -29.17 0.000 6 0.225 0.000 2582 2257 3766 0 0 0 0 0 0 25.77 28.83 26.57

446 -0.46 -195.5 59.6 -15.4 57 447 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2257 3767 0 0 0 0 0 0 28.83 28.83 28.83

749 -0.51 -195.5 92.7 -7.5 72 754 0.00 2.15 0.00 0.000 4 0.000 0.047 2582 3670 3768 0 0 0 0 0 0 28.83 26.46 28.83

942 -0.60 -195.5 104.3 -6.3 81 948 0.12 2.00 0.00 0.000 6 0.076 0.023 2494 2271 3769 0 0 0 0 0 0 26.57 26.61 28.83

1256 -0.58 -195.5 149.5 -12.9 97 1262 0.17 2.15 0.00 0.000 4 0.137 0.046 2547 3669 3770 0 0 0 0 0 0 26.43 26.54 28.83

1294 -0.58 -195.5 152.3 -12.4 98 1301 0.00 1.98 0.00 0.000 6 0.000 0.020 2547 2248 3769 0 0 0 0 0 0 28.83 26.70 28.83

1601 -0.64 -195.5 180.4 -7.4 114 1606 0.00 2.17 0.00 0.000 4 0.000 0.047 2547 3673 3769 0 0 0 0 0 0 28.83 26.58 28.83

1694 -0.72 -195.5 185.5 -6.1 118 1700 0.12 1.95 0.00 0.000 6 0.078 0.018 2469 2253 3769 0 0 0 0 0 0 26.66 26.75 28.83

2008 -0.70 -195.5 229.2 -12.4 134 2014 0.15 2.15 0.00 0.000 4 0.140 0.041 2512 3667 3769 0 0 0 0 0 0 26.51 26.59 28.83

2077 -0.73 -195.5 234.7 -9.3 137 2082 0.00 1.95 0.00 0.000 6 0.000 0.021 2512 2281 3769 0 0 0 0 0 0 28.83 26.75 28.83

2396 -0.77 -195.5 260.0 -7.4 153 2398 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2281 3769 0 0 0 0 0 0 28.83 28.83 28.83

2697 -0.82 -195.5 283.7 -7.9 168 2699 0.12 0.00 0.00 0.000 6 0.078 0.000 2435 2281 3767 0 0 0 0 0 0 26.80 28.83 28.83

2998 -0.80 -195.5 322.0 -13.9 183 3003 0.12 2.12 0.00 0.000 4 0.151 0.047 2470 3662 3766 0 0 0 0 0 0 26.55 26.58 28.83

3081 -0.80 -195.5 333.6 -13.4 187 3087 0.00 1.95 0.00 0.000 6 0.000 0.020 2470 2246 3765 0 0 0 0 0 0 28.83 26.81 28.83

3405 -0.81 -195.5 365.9 -8.4 203 3410 0.00 2.15 0.00 0.000 4 0.000 0.042 2469 3663 3763 0 0 0 0 0 0 28.83 26.60 28.83

3469 -0.83 -195.5 371.2 -8.1 206 3474 0.00 1.90 0.00 0.000 6 0.000 0.020 2468 2260 3763 0 0 0 0 0 0 28.83 26.81 28.83

3793 -0.86 -195.5 406.4 -10.3 222 3798 0.00 2.12 0.00 0.000 4 0.000 0.041 2470 3668 3762 0 0 0 0 0 0 28.83 26.60 28.83

3879 -0.89 -195.5 415.4 -10.7 226 3885 0.00 1.92 0.00 0.000 6 0.000 0.021 2469 2276 3761 0 0 0 0 0 0 28.83 26.80 28.83

4198 -0.92 -195.5 444.3 -8.6 242 4204 0.00 2.12 0.00 0.000 4 0.000 0.044 2469 3668 3759 0 0 0 0 0 0 28.83 26.58 28.83

4272 -0.95 -195.5 450.5 -9.3 245 4278 0.10 1.92 0.00 0.000 6 0.095 0.021 2411 2268 3758 0 0 0 0 0 0 26.67 26.80 28.83

4587 -0.93 -195.5 492.8 -13.9 261 4590 0.12 0.00 -0.10 0.000 6 0.155 0.000 2444 2265 3781 0 0 0 0 0 0 26.56 28.83 26.13

4646 end dive: BOTTOM_OBSTACLE_DETECTED

state 4647 begin apogee

4652 -0.20 0.0 500.2 -12.7 264 4817 0.65 0.00 156.88 0.851 6 0.107 0.000 2668 2264 2965 0 0 0 0 0 0 26.34 28.83 24.49

4818 end apogee: CONTROL_FINISHED_OK

state 4818 begin climb

4821 0.47 195.5 506.2 0.0 272 4989 0.57 2.33 158.80 0.818 4 0.045 0.043 2898 3644 2161 0 0 0 0 0 0 25.30 25.01 24.37

5216 0.41 195.5 473.2 12.2 292 5221 0.12 2.00 0.00 0.000 6 0.161 0.024 2874 2283 2149 0 0 0 0 0 0 25.84 26.09 28.83

5535 0.40 214.9 441.3 9.3 308 5555 0.00 2.20 14.80 0.848 4 0.000 0.044 2874 3640 2087 0 0 0 0 0 0 28.83 26.03 25.33

5608 0.38 236.3 435.4 9.3 311 5637 0.00 2.08 19.67 0.851 6 0.000 0.024 2881 2242 1993 0 0 0 0 0 0 28.83 26.20 25.10

5939 0.37 236.3 401.5 10.7 328 5944 0.00 2.20 0.00 0.000 4 0.000 0.050 2881 3647 1985 0 0 0 0 0 0 28.83 26.21 28.83

5982 0.35 236.3 396.8 10.6 330 5988 0.12 2.05 0.00 0.000 6 0.160 0.024 2855 2241 1983 0 0 0 0 0 0 26.12 26.36 28.83

6307 0.39 313.6 374.1 7.3 346 6380 0.00 2.28 61.35 1.299 4 0.000 0.042 2855 3637 1689 0 0 0 0 1 0 28.83 25.08 24.16

6453 0.41 314.4 360.7 10.0 353 6458 0.00 2.08 0.00 0.000 6 0.000 0.024 2855 2244 1694 0 0 0 0 0 0 28.83 25.79 28.83

6772 0.48 401.9 336.1 7.0 369 6858 0.12 0.00 77.78 1.268 6 0.080 0.000 2926 2241 1327 0 0 0 0 1 0 26.33 28.83 24.04

7151 0.48 401.9 284.4 16.5 388 7152 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2241 1335 0 0 0 0 0 0 28.83 28.83 28.83

7453 0.48 401.9 244.1 14.7 403 7458 0.00 2.15 0.00 0.000 4 0.000 0.047 2926 3638 1330 0 0 0 0 0 0 28.83 26.27 28.83

7505 0.48 401.9 237.1 15.2 405 7511 0.15 2.03 0.00 0.000 6 0.145 0.023 2892 2237 1329 0 0 0 0 0 0 26.21 26.43 28.83

7820 0.52 413.5 205.0 9.6 421 7840 0.00 2.20 13.52 0.785 4 0.000 0.041 2893 3646 1275 0 0 0 0 0 0 28.83 26.21 25.59

7905 0.56 413.5 195.9 10.8 425 7910 0.00 2.03 0.00 0.000 6 0.000 0.023 2892 2243 1272 0 0 0 0 0 0 28.83 26.35 28.83

8229 0.66 542.4 168.5 5.6 441 8349 0.15 0.00 111.70 0.632 6 0.070 0.000 2986 2238 744 0 0 0 0 0 0 26.54 28.83 24.82

8648 0.66 542.4 97.8 16.1 462 8655 0.12 2.17 0.00 0.000 4 0.129 0.039 2946 3649 733 0 0 0 0 0 0 26.10 26.14 28.83

8718 0.68 542.4 88.1 15.8 465 8723 0.00 2.03 0.00 0.000 6 0.000 0.022 2945 2246 736 0 0 0 0 0 0 28.83 26.31 28.83

9036 0.81 646.0 64.3 6.4 481 9067 0.15 0.00 28.25 0.265 6 0.069 0.000 3043 2245 457 0 0 0 0 0 0 26.50 28.83 25.80

9356 0.82 646.0 19.4 14.0 510 9364 0.12 0.00 0.00 0.000 6 0.127 0.000 2998 2245 454 0 0 0 0 0 0 26.35 28.83 28.83

9526 end climb: SURFACE_DEPTH_REACHED

state 9526 begin surface coast

9553 end surface coast: CONTROL_FINISHED_OK

state 9553 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	42	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2275	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	68	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	52	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968541.62	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	211012,213600,2225.540,12112.828,38,1.6,38,-3.3	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,214158,2225.683,12112.814,4,1.6,4,-3.3	MHEAD_RNG_PITCHd_Wd	29.3,73647,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	517

FINISH	0.8,1.014033	_10V_AH	10.5,8.488
SM_CCo	9630,0.00,0.000,0,0,452,617.17	FG_AHR_24Vo	0.000
SM_GC	1.40,7.25,0.00,0.00,0.027,0.000,0.000,103,2241,452,-8.12,-0.96,617.17,0,0,0,0,0,0,26.49,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2216.01,12109.42,211012,181816	MEM	323820
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20113,548
HUMID	54.56	CAP_FILE_SIZE	122087,0
INTERNAL_PRESSURE	9.42419	CFSIZE	260165632,245862400
TCM_TEMP	25.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	5	CURRENT	0.343, 11.9,1
ALTIM_BOTTOM_PING	500.2,6.7	GPS	221012,002405,2228.837,12113.950,27,1.3,27,-3.3
_24V_AH	24.0,15.820

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	109.17	nil	0	0	0.00
Roll_motor	62	49	74.62	nil	0	0	0.00
VBD_pump_during_apogee	642	1298	20037.91	nil	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9568	16	3697.30
Iridium_during_xfer	207	123	616.95	nil	0	0	0.00
Transponder_ping	1	420	17.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.64
TT8	1657	14	255.97
LPSleep	5911	2	135.93
TT8_Active	657	14	101.56
TT8_Sampling	1546	37	615.74
TT8_CF8	224	44	105.18
TT8_Kalman	0	0	0.00
Analog_circuits	1627	16	273.41
GPS_charging	0	0	0.00
Compass	1280	8	110.81
RAFOS	0	0	0.00
Transponder	5	30	1.72

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	96	0.00	0.00	-75.80	0.000	2	0.000	0.000	105	2257	2494	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.47	-195.5	3.2	-5.8	13	143	9.62	0.00	-29.17	0.000	6	0.225	0.000	2582	2257	3766	0	0	0	0	0	0	25.77	28.83	26.57
446	-0.46	-195.5	59.6	-15.4	57	447	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2257	3767	0	0	0	0	0	0	28.83	28.83	28.83
749	-0.51	-195.5	92.7	-7.5	72	754	0.00	2.15	0.00	0.000	4	0.000	0.047	2582	3670	3768	0	0	0	0	0	0	28.83	26.46	28.83
942	-0.60	-195.5	104.3	-6.3	81	948	0.12	2.00	0.00	0.000	6	0.076	0.023	2494	2271	3769	0	0	0	0	0	0	26.57	26.61	28.83
1256	-0.58	-195.5	149.5	-12.9	97	1262	0.17	2.15	0.00	0.000	4	0.137	0.046	2547	3669	3770	0	0	0	0	0	0	26.43	26.54	28.83
1294	-0.58	-195.5	152.3	-12.4	98	1301	0.00	1.98	0.00	0.000	6	0.000	0.020	2547	2248	3769	0	0	0	0	0	0	28.83	26.70	28.83
1601	-0.64	-195.5	180.4	-7.4	114	1606	0.00	2.17	0.00	0.000	4	0.000	0.047	2547	3673	3769	0	0	0	0	0	0	28.83	26.58	28.83
1694	-0.72	-195.5	185.5	-6.1	118	1700	0.12	1.95	0.00	0.000	6	0.078	0.018	2469	2253	3769	0	0	0	0	0	0	26.66	26.75	28.83
2008	-0.70	-195.5	229.2	-12.4	134	2014	0.15	2.15	0.00	0.000	4	0.140	0.041	2512	3667	3769	0	0	0	0	0	0	26.51	26.59	28.83
2077	-0.73	-195.5	234.7	-9.3	137	2082	0.00	1.95	0.00	0.000	6	0.000	0.021	2512	2281	3769	0	0	0	0	0	0	28.83	26.75	28.83
2396	-0.77	-195.5	260.0	-7.4	153	2398	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2281	3769	0	0	0	0	0	0	28.83	28.83	28.83
2697	-0.82	-195.5	283.7	-7.9	168	2699	0.12	0.00	0.00	0.000	6	0.078	0.000	2435	2281	3767	0	0	0	0	0	0	26.80	28.83	28.83
2998	-0.80	-195.5	322.0	-13.9	183	3003	0.12	2.12	0.00	0.000	4	0.151	0.047	2470	3662	3766	0	0	0	0	0	0	26.55	26.58	28.83
3081	-0.80	-195.5	333.6	-13.4	187	3087	0.00	1.95	0.00	0.000	6	0.000	0.020	2470	2246	3765	0	0	0	0	0	0	28.83	26.81	28.83
3405	-0.81	-195.5	365.9	-8.4	203	3410	0.00	2.15	0.00	0.000	4	0.000	0.042	2469	3663	3763	0	0	0	0	0	0	28.83	26.60	28.83
3469	-0.83	-195.5	371.2	-8.1	206	3474	0.00	1.90	0.00	0.000	6	0.000	0.020	2468	2260	3763	0	0	0	0	0	0	28.83	26.81	28.83
3793	-0.86	-195.5	406.4	-10.3	222	3798	0.00	2.12	0.00	0.000	4	0.000	0.041	2470	3668	3762	0	0	0	0	0	0	28.83	26.60	28.83
3879	-0.89	-195.5	415.4	-10.7	226	3885	0.00	1.92	0.00	0.000	6	0.000	0.021	2469	2276	3761	0	0	0	0	0	0	28.83	26.80	28.83
4198	-0.92	-195.5	444.3	-8.6	242	4204	0.00	2.12	0.00	0.000	4	0.000	0.044	2469	3668	3759	0	0	0	0	0	0	28.83	26.58	28.83
4272	-0.95	-195.5	450.5	-9.3	245	4278	0.10	1.92	0.00	0.000	6	0.095	0.021	2411	2268	3758	0	0	0	0	0	0	26.67	26.80	28.83
4587	-0.93	-195.5	492.8	-13.9	261	4590	0.12	0.00	-0.10	0.000	6	0.155	0.000	2444	2265	3781	0	0	0	0	0	0	26.56	28.83	26.13
4646	end dive: BOTTOM_OBSTACLE_DETECTED
state	4647	begin apogee
4652	-0.20	0.0	500.2	-12.7	264	4817	0.65	0.00	156.88	0.851	6	0.107	0.000	2668	2264	2965	0	0	0	0	0	0	26.34	28.83	24.49
4818	end apogee: CONTROL_FINISHED_OK
state	4818	begin climb
4821	0.47	195.5	506.2	0.0	272	4989	0.57	2.33	158.80	0.818	4	0.045	0.043	2898	3644	2161	0	0	0	0	0	0	25.30	25.01	24.37
5216	0.41	195.5	473.2	12.2	292	5221	0.12	2.00	0.00	0.000	6	0.161	0.024	2874	2283	2149	0	0	0	0	0	0	25.84	26.09	28.83
5535	0.40	214.9	441.3	9.3	308	5555	0.00	2.20	14.80	0.848	4	0.000	0.044	2874	3640	2087	0	0	0	0	0	0	28.83	26.03	25.33
5608	0.38	236.3	435.4	9.3	311	5637	0.00	2.08	19.67	0.851	6	0.000	0.024	2881	2242	1993	0	0	0	0	0	0	28.83	26.20	25.10
5939	0.37	236.3	401.5	10.7	328	5944	0.00	2.20	0.00	0.000	4	0.000	0.050	2881	3647	1985	0	0	0	0	0	0	28.83	26.21	28.83
5982	0.35	236.3	396.8	10.6	330	5988	0.12	2.05	0.00	0.000	6	0.160	0.024	2855	2241	1983	0	0	0	0	0	0	26.12	26.36	28.83
6307	0.39	313.6	374.1	7.3	346	6380	0.00	2.28	61.35	1.299	4	0.000	0.042	2855	3637	1689	0	0	0	0	1	0	28.83	25.08	24.16
6453	0.41	314.4	360.7	10.0	353	6458	0.00	2.08	0.00	0.000	6	0.000	0.024	2855	2244	1694	0	0	0	0	0	0	28.83	25.79	28.83
6772	0.48	401.9	336.1	7.0	369	6858	0.12	0.00	77.78	1.268	6	0.080	0.000	2926	2241	1327	0	0	0	0	1	0	26.33	28.83	24.04
7151	0.48	401.9	284.4	16.5	388	7152	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2241	1335	0	0	0	0	0	0	28.83	28.83	28.83
7453	0.48	401.9	244.1	14.7	403	7458	0.00	2.15	0.00	0.000	4	0.000	0.047	2926	3638	1330	0	0	0	0	0	0	28.83	26.27	28.83
7505	0.48	401.9	237.1	15.2	405	7511	0.15	2.03	0.00	0.000	6	0.145	0.023	2892	2237	1329	0	0	0	0	0	0	26.21	26.43	28.83
7820	0.52	413.5	205.0	9.6	421	7840	0.00	2.20	13.52	0.785	4	0.000	0.041	2893	3646	1275	0	0	0	0	0	0	28.83	26.21	25.59
7905	0.56	413.5	195.9	10.8	425	7910	0.00	2.03	0.00	0.000	6	0.000	0.023	2892	2243	1272	0	0	0	0	0	0	28.83	26.35	28.83
8229	0.66	542.4	168.5	5.6	441	8349	0.15	0.00	111.70	0.632	6	0.070	0.000	2986	2238	744	0	0	0	0	0	0	26.54	28.83	24.82
8648	0.66	542.4	97.8	16.1	462	8655	0.12	2.17	0.00	0.000	4	0.129	0.039	2946	3649	733	0	0	0	0	0	0	26.10	26.14	28.83
8718	0.68	542.4	88.1	15.8	465	8723	0.00	2.03	0.00	0.000	6	0.000	0.022	2945	2246	736	0	0	0	0	0	0	28.83	26.31	28.83
9036	0.81	646.0	64.3	6.4	481	9067	0.15	0.00	28.25	0.265	6	0.069	0.000	3043	2245	457	0	0	0	0	0	0	26.50	28.83	25.80
9356	0.82	646.0	19.4	14.0	510	9364	0.12	0.00	0.00	0.000	6	0.127	0.000	2998	2245	454	0	0	0	0	0	0	26.35	28.83	28.83
9526	end climb: SURFACE_DEPTH_REACHED
state	9526	begin surface coast
9553	end surface coast: CONTROL_FINISHED_OK
state	9553	begin surface