Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 46 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 46 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3300 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 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 55 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 554.9259 R_STBD_OVSHOOT 38 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 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 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 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 350 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 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 5 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 -7 T_GPS_CHARGE -974753.12 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 180 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 0 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 554.9259

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 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 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 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 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 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 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974753.12

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 350

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 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 3300 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 180 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 55 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 38 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 46 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 260613,230922,2157.758,12023.125,38,1.7,54,-3.1 TGT_NAME T2

_CALLS 2 TGT_LATLONG 2154.000,12025.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260613,231906,2157.582,12023.146,35,1.9,35,-3.1 MHEAD_RNG_PITCHd_Wd 157.5,7358,-16.6,-10.000,-19.50,2680

SPEED_LIMITS 0.173,0.282 D_GRID 1032

Post-dive calculations and measurements:

FINISH 1.0,1.008536 _24V_AH 23.2,5.467

SM_CCo 7752,64.57,0.139,0,0,496,555.11 _10V_AH 10.3,4.463

SM_GC 1.87,9.18,2.05,64.57,0.034,0.024,0.139,142,1907,496,-9.14,2.26,555.11,0,0,0,0,0,0,26.46,26.51,26.17 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2148.09,12008.03,260613,232313 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 324392

HUMID 63.58 DATA_FILE_SIZE 13472,354

INTERNAL_PRESSURE 9.37536 CAP_FILE_SIZE 101244,0

TCM_TEMP 22.30 CFSIZE 260034560,246063104

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

SC_FREEKB 7698528 GPS 270613,013122,2157.476,12023.015,30,1.2,45,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 247 130.42 nil 0 0 0.00

Roll_motor 61 45 65.09 nil 0 0 0.00

VBD_pump_during_apogee 537 1683 20969.44 nil 0 0 0.00

VBD_pump_during_surface 64 139 208.59 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 7735 7 1307.13

Iridium_during_xfer 318 113 841.40 nil 0 0 0.00

Transponder_ping 0 420 7.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.99

TT8 1298 13 186.68

LPSleep 4581 2 103.34

TT8_Active 610 13 87.84

TT8_Sampling 1565 40 647.52

TT8_CF8 347 47 170.78

TT8_Kalman 0 0 0.00

Analog_circuits 1650 16 272.03

GPS_charging 0 0 0.00

Compass 1189 5 61.24

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.14 -175.2 111 1919 428 571 0.0 0.0 0 115 0.00 0.00 -87.70 0.000 16386 0.000 0.000 110 1919 2689 2667 2712 0 0 0 0 0 0 28.83 28.83 28.83

123 -1.14 -175.2 110 1919 2667 2713 3.8 -6.0 16 154 10.52 2.10 -13.05 0.000 19204 0.247 0.039 2710 488 3479 3478 3481 0 0 0 0 0 0 25.93 26.17 26.41

386 -1.14 -175.2 2710 487 3478 3485 96.0 -32.1 38 391 0.00 2.05 0.00 0.000 1030 0.000 0.015 2701 1944 3482 3479 3485 0 0 0 0 0 0 28.83 26.36 28.83

700 -1.14 -175.2 2701 1946 3480 3485 184.2 -26.3 54 706 0.00 2.12 0.00 0.000 516 0.000 0.029 2701 497 3482 3480 3485 0 0 0 0 0 0 28.83 26.44 28.83

754 -1.14 -175.2 2701 497 3481 3485 196.3 -27.1 56 760 0.00 1.98 0.00 0.000 1030 0.000 0.018 2692 1889 3482 3480 3485 0 0 0 0 0 0 28.83 26.49 28.83

1069 -1.14 -175.2 2692 1890 3480 3485 275.5 -21.7 72 1070 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 1890 3482 3480 3485 0 0 0 0 0 0 28.83 28.83 28.83

1372 -1.14 -175.2 2692 1890 3480 3484 337.2 -20.4 87 1377 0.00 2.05 0.00 0.000 260 0.000 0.033 2682 3293 3481 3480 3482 0 0 0 0 0 0 28.83 26.57 28.83

1488 -1.14 -175.2 2681 3293 3478 3481 360.6 -22.0 92 1494 0.15 2.00 0.00 0.000 3078 0.177 0.018 2719 1877 3481 3480 3482 0 0 0 0 0 0 26.46 26.63 28.83

1804 -1.14 -175.2 2719 1875 3483 3475 421.0 -19.2 108 1809 0.00 1.98 0.00 0.000 516 0.000 0.034 2719 518 3478 3483 3474 0 0 0 0 0 0 28.83 26.62 28.83

1933 -1.14 -175.2 2719 519 3483 3473 447.7 -21.9 114 1939 0.00 1.95 0.00 0.000 1030 0.000 0.020 2712 1895 3477 3483 3472 0 0 0 0 0 0 28.83 26.66 28.83

2253 -1.14 -175.2 2711 1896 3484 3466 506.2 -17.0 130 2258 0.00 2.05 0.00 0.000 260 0.000 0.035 2701 3293 3474 3483 3466 0 0 0 0 0 0 28.83 26.65 28.83

2464 -1.14 -175.2 2701 3293 3483 3463 543.8 -18.4 140 2469 0.00 1.98 0.00 0.000 1030 0.000 0.018 2702 1899 3473 3483 3463 0 0 0 0 0 0 28.83 26.70 28.83

2784 -1.14 -175.2 2701 1898 3483 3457 598.4 -15.3 156 2789 0.00 2.03 0.00 0.000 516 0.000 0.034 2701 511 3470 3483 3457 0 0 0 0 0 0 28.83 26.67 28.83

2832 -1.14 -175.2 2701 511 3483 3456 603.9 -15.4 158 2838 0.00 2.00 0.00 0.000 1030 0.000 0.021 2697 1908 3469 3483 3456 0 0 0 0 0 0 28.83 26.70 28.83

3155 -1.14 -175.2 2697 1908 3483 3451 662.1 -17.8 169 3160 0.00 2.03 0.00 0.000 260 0.000 0.037 2688 3289 3466 3483 3450 0 0 0 0 0 0 28.83 26.68 28.83

3220 -1.14 -175.2 2687 3290 3483 3449 675.6 -19.0 171 3226 0.12 2.00 0.00 0.000 3078 0.184 0.019 2716 1884 3466 3483 3449 0 0 0 0 0 0 26.55 26.72 28.83

3555 -1.14 -175.2 2717 1884 3483 3445 740.8 -19.7 182 3560 0.00 2.00 0.00 0.000 516 0.000 0.035 2717 516 3464 3483 3445 0 0 0 0 0 0 28.83 26.70 28.83

3624 -1.14 -175.2 2717 516 3483 3443 753.1 -19.0 184 3629 0.00 1.98 0.00 0.000 1030 0.000 0.020 2712 1899 3463 3483 3443 0 0 0 0 0 0 28.83 26.72 28.83

3956 -1.14 -175.2 2712 1900 3483 3437 806.9 -14.3 195 3961 0.00 2.08 0.00 0.000 260 0.000 0.037 2702 3293 3460 3483 3438 0 0 0 0 0 0 28.83 26.69 28.83

4106 -1.14 -175.2 2702 3293 3483 3436 823.1 -12.6 199 4113 0.00 1.98 0.00 0.000 1030 0.000 0.019 2702 1901 3459 3483 3436 0 0 0 0 0 0 28.83 26.74 28.83

4412 -1.14 -175.2 2701 1902 3480 3436 872.5 -16.1 210 4417 0.00 2.08 0.00 0.000 260 0.000 0.037 2697 3287 3457 3480 3434 0 0 0 0 0 0 28.83 26.70 28.83

4456 -1.14 -175.2 2697 3287 3479 3434 878.5 -16.8 211 4461 0.00 1.98 0.00 0.000 1030 0.000 0.020 2697 1901 3456 3479 3434 0 0 0 0 0 0 28.83 26.74 28.83

4784 -1.14 -175.2 2697 1900 3478 3432 936.3 -16.7 222 4790 0.00 2.05 0.00 0.000 516 0.000 0.046 2697 510 3455 3478 3432 0 0 0 0 0 0 28.83 26.70 28.83

5020 -1.14 -175.2 2697 510 3477 3429 936.7 -0.2 229 5025 0.00 2.00 0.00 0.000 1030 0.000 0.024 2697 1896 3452 3477 3428 0 0 0 0 0 0 28.83 26.73 28.83

5031 end dive: NO_VERTICAL_VELOCITY

state 5031 begin apogee

5041 -0.19 0.0 2697 3276 3478 3427 936.7 0.0 230 5200 0.85 0.00 150.77 1.142 10246 0.061 0.000 3026 3276 2762 2824 2700 0 0 0 0 0 0 26.69 28.83 24.08

5202 end apogee: CONTROL_FINISHED_OK

state 5202 begin climb

5206 1.14 175.2 3026 3276 2812 2677 936.7 0.0 235 5376 1.17 2.17 155.12 1.073 10756 0.055 0.022 3449 1907 2045 2145 1946 0 0 0 0 1 0 24.91 24.72 23.84

5606 1.93 436.9 3448 1908 2145 1964 936.6 -0.0 248 5851 0.68 2.20 231.15 1.683 11270 0.033 0.039 3729 3311 979 972 986 0 0 0 0 1 0 25.82 25.77 23.24

6151 1.93 436.9 3729 3311 981 986 711.2 48.8 267 6156 0.00 0.68 0.00 0.000 260 0.000 0.044 3729 3765 983 981 986 0 0 0 0 0 0 28.83 25.73 28.83

6386 1.93 436.9 3729 3766 979 985 606.0 50.0 274 6392 0.08 0.68 0.00 0.000 5126 0.204 0.028 3712 3290 982 979 985 0 0 0 0 0 0 25.86 26.06 28.83

6701 1.93 436.9 3711 3283 978 983 452.0 45.9 290 6707 0.00 0.75 0.00 0.000 260 0.000 0.043 3712 3780 981 979 983 0 0 0 0 0 0 28.83 26.21 28.83

6800 1.93 436.9 3711 3780 979 982 412.7 46.4 294 6807 0.00 0.68 0.00 0.000 1030 0.000 0.028 3714 3287 980 979 982 0 0 0 0 0 0 28.83 26.30 28.83

7106 1.93 436.9 3714 3287 979 981 257.3 50.3 310 7111 0.00 2.00 0.00 0.000 516 0.000 0.031 3724 1925 980 979 981 0 0 0 0 0 0 28.83 26.36 28.83

7165 1.93 436.9 3723 1923 979 981 235.5 49.5 312 7172 0.00 2.10 0.00 0.000 1030 0.000 0.032 3724 3314 979 979 980 0 0 0 0 0 0 28.83 26.36 28.83

7471 1.93 436.9 3724 3314 978 979 90.2 47.4 328 7476 0.00 0.65 0.00 0.000 260 0.000 0.043 3724 3770 978 979 978 0 0 0 0 0 0 28.83 26.44 28.83

7641 1.93 436.9 3724 3769 978 977 28.8 36.8 338 7647 0.00 0.62 0.00 0.000 1030 0.000 0.026 3728 3296 977 978 977 0 0 0 0 0 0 28.83 26.53 28.83

7722 end climb: SURFACE_DEPTH_REACHED

state 7722 begin surface coast

7727 end surface coast: CONTROL_FINISHED_OK

state 7727 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	46	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3300	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	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	55	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	554.9259	R_STBD_OVSHOOT	38	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	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	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	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	350	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	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	5	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	-7	T_GPS_CHARGE	-974753.12	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	180	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	0	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	260613,230922,2157.758,12023.125,38,1.7,54,-3.1	TGT_NAME	T2
_CALLS	2	TGT_LATLONG	2154.000,12025.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260613,231906,2157.582,12023.146,35,1.9,35,-3.1	MHEAD_RNG_PITCHd_Wd	157.5,7358,-16.6,-10.000,-19.50,2680
SPEED_LIMITS	0.173,0.282	D_GRID	1032

FINISH	1.0,1.008536	_24V_AH	23.2,5.467
SM_CCo	7752,64.57,0.139,0,0,496,555.11	_10V_AH	10.3,4.463
SM_GC	1.87,9.18,2.05,64.57,0.034,0.024,0.139,142,1907,496,-9.14,2.26,555.11,0,0,0,0,0,0,26.46,26.51,26.17	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2148.09,12008.03,260613,232313	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	324392
HUMID	63.58	DATA_FILE_SIZE	13472,354
INTERNAL_PRESSURE	9.37536	CAP_FILE_SIZE	101244,0
TCM_TEMP	22.30	CFSIZE	260034560,246063104
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
SC_FREEKB	7698528	GPS	270613,013122,2157.476,12023.015,30,1.2,45,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	247	130.42	nil	0	0	0.00
Roll_motor	61	45	65.09	nil	0	0	0.00
VBD_pump_during_apogee	537	1683	20969.44	nil	0	0	0.00
VBD_pump_during_surface	64	139	208.59	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	7735	7	1307.13
Iridium_during_xfer	318	113	841.40	nil	0	0	0.00
Transponder_ping	0	420	7.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.99
TT8	1298	13	186.68
LPSleep	4581	2	103.34
TT8_Active	610	13	87.84
TT8_Sampling	1565	40	647.52
TT8_CF8	347	47	170.78
TT8_Kalman	0	0	0.00
Analog_circuits	1650	16	272.03
GPS_charging	0	0	0.00
Compass	1189	5	61.24
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.14	-175.2	111	1919	428	571	0.0	0.0	0	115	0.00	0.00	-87.70	0.000	16386	0.000	0.000	110	1919	2689	2667	2712	0	0	0	0	0	0	28.83	28.83	28.83
123	-1.14	-175.2	110	1919	2667	2713	3.8	-6.0	16	154	10.52	2.10	-13.05	0.000	19204	0.247	0.039	2710	488	3479	3478	3481	0	0	0	0	0	0	25.93	26.17	26.41
386	-1.14	-175.2	2710	487	3478	3485	96.0	-32.1	38	391	0.00	2.05	0.00	0.000	1030	0.000	0.015	2701	1944	3482	3479	3485	0	0	0	0	0	0	28.83	26.36	28.83
700	-1.14	-175.2	2701	1946	3480	3485	184.2	-26.3	54	706	0.00	2.12	0.00	0.000	516	0.000	0.029	2701	497	3482	3480	3485	0	0	0	0	0	0	28.83	26.44	28.83
754	-1.14	-175.2	2701	497	3481	3485	196.3	-27.1	56	760	0.00	1.98	0.00	0.000	1030	0.000	0.018	2692	1889	3482	3480	3485	0	0	0	0	0	0	28.83	26.49	28.83
1069	-1.14	-175.2	2692	1890	3480	3485	275.5	-21.7	72	1070	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	1890	3482	3480	3485	0	0	0	0	0	0	28.83	28.83	28.83
1372	-1.14	-175.2	2692	1890	3480	3484	337.2	-20.4	87	1377	0.00	2.05	0.00	0.000	260	0.000	0.033	2682	3293	3481	3480	3482	0	0	0	0	0	0	28.83	26.57	28.83
1488	-1.14	-175.2	2681	3293	3478	3481	360.6	-22.0	92	1494	0.15	2.00	0.00	0.000	3078	0.177	0.018	2719	1877	3481	3480	3482	0	0	0	0	0	0	26.46	26.63	28.83
1804	-1.14	-175.2	2719	1875	3483	3475	421.0	-19.2	108	1809	0.00	1.98	0.00	0.000	516	0.000	0.034	2719	518	3478	3483	3474	0	0	0	0	0	0	28.83	26.62	28.83
1933	-1.14	-175.2	2719	519	3483	3473	447.7	-21.9	114	1939	0.00	1.95	0.00	0.000	1030	0.000	0.020	2712	1895	3477	3483	3472	0	0	0	0	0	0	28.83	26.66	28.83
2253	-1.14	-175.2	2711	1896	3484	3466	506.2	-17.0	130	2258	0.00	2.05	0.00	0.000	260	0.000	0.035	2701	3293	3474	3483	3466	0	0	0	0	0	0	28.83	26.65	28.83
2464	-1.14	-175.2	2701	3293	3483	3463	543.8	-18.4	140	2469	0.00	1.98	0.00	0.000	1030	0.000	0.018	2702	1899	3473	3483	3463	0	0	0	0	0	0	28.83	26.70	28.83
2784	-1.14	-175.2	2701	1898	3483	3457	598.4	-15.3	156	2789	0.00	2.03	0.00	0.000	516	0.000	0.034	2701	511	3470	3483	3457	0	0	0	0	0	0	28.83	26.67	28.83
2832	-1.14	-175.2	2701	511	3483	3456	603.9	-15.4	158	2838	0.00	2.00	0.00	0.000	1030	0.000	0.021	2697	1908	3469	3483	3456	0	0	0	0	0	0	28.83	26.70	28.83
3155	-1.14	-175.2	2697	1908	3483	3451	662.1	-17.8	169	3160	0.00	2.03	0.00	0.000	260	0.000	0.037	2688	3289	3466	3483	3450	0	0	0	0	0	0	28.83	26.68	28.83
3220	-1.14	-175.2	2687	3290	3483	3449	675.6	-19.0	171	3226	0.12	2.00	0.00	0.000	3078	0.184	0.019	2716	1884	3466	3483	3449	0	0	0	0	0	0	26.55	26.72	28.83
3555	-1.14	-175.2	2717	1884	3483	3445	740.8	-19.7	182	3560	0.00	2.00	0.00	0.000	516	0.000	0.035	2717	516	3464	3483	3445	0	0	0	0	0	0	28.83	26.70	28.83
3624	-1.14	-175.2	2717	516	3483	3443	753.1	-19.0	184	3629	0.00	1.98	0.00	0.000	1030	0.000	0.020	2712	1899	3463	3483	3443	0	0	0	0	0	0	28.83	26.72	28.83
3956	-1.14	-175.2	2712	1900	3483	3437	806.9	-14.3	195	3961	0.00	2.08	0.00	0.000	260	0.000	0.037	2702	3293	3460	3483	3438	0	0	0	0	0	0	28.83	26.69	28.83
4106	-1.14	-175.2	2702	3293	3483	3436	823.1	-12.6	199	4113	0.00	1.98	0.00	0.000	1030	0.000	0.019	2702	1901	3459	3483	3436	0	0	0	0	0	0	28.83	26.74	28.83
4412	-1.14	-175.2	2701	1902	3480	3436	872.5	-16.1	210	4417	0.00	2.08	0.00	0.000	260	0.000	0.037	2697	3287	3457	3480	3434	0	0	0	0	0	0	28.83	26.70	28.83
4456	-1.14	-175.2	2697	3287	3479	3434	878.5	-16.8	211	4461	0.00	1.98	0.00	0.000	1030	0.000	0.020	2697	1901	3456	3479	3434	0	0	0	0	0	0	28.83	26.74	28.83
4784	-1.14	-175.2	2697	1900	3478	3432	936.3	-16.7	222	4790	0.00	2.05	0.00	0.000	516	0.000	0.046	2697	510	3455	3478	3432	0	0	0	0	0	0	28.83	26.70	28.83
5020	-1.14	-175.2	2697	510	3477	3429	936.7	-0.2	229	5025	0.00	2.00	0.00	0.000	1030	0.000	0.024	2697	1896	3452	3477	3428	0	0	0	0	0	0	28.83	26.73	28.83
5031	end dive: NO_VERTICAL_VELOCITY
state	5031	begin apogee
5041	-0.19	0.0	2697	3276	3478	3427	936.7	0.0	230	5200	0.85	0.00	150.77	1.142	10246	0.061	0.000	3026	3276	2762	2824	2700	0	0	0	0	0	0	26.69	28.83	24.08
5202	end apogee: CONTROL_FINISHED_OK
state	5202	begin climb
5206	1.14	175.2	3026	3276	2812	2677	936.7	0.0	235	5376	1.17	2.17	155.12	1.073	10756	0.055	0.022	3449	1907	2045	2145	1946	0	0	0	0	1	0	24.91	24.72	23.84
5606	1.93	436.9	3448	1908	2145	1964	936.6	-0.0	248	5851	0.68	2.20	231.15	1.683	11270	0.033	0.039	3729	3311	979	972	986	0	0	0	0	1	0	25.82	25.77	23.24
6151	1.93	436.9	3729	3311	981	986	711.2	48.8	267	6156	0.00	0.68	0.00	0.000	260	0.000	0.044	3729	3765	983	981	986	0	0	0	0	0	0	28.83	25.73	28.83
6386	1.93	436.9	3729	3766	979	985	606.0	50.0	274	6392	0.08	0.68	0.00	0.000	5126	0.204	0.028	3712	3290	982	979	985	0	0	0	0	0	0	25.86	26.06	28.83
6701	1.93	436.9	3711	3283	978	983	452.0	45.9	290	6707	0.00	0.75	0.00	0.000	260	0.000	0.043	3712	3780	981	979	983	0	0	0	0	0	0	28.83	26.21	28.83
6800	1.93	436.9	3711	3780	979	982	412.7	46.4	294	6807	0.00	0.68	0.00	0.000	1030	0.000	0.028	3714	3287	980	979	982	0	0	0	0	0	0	28.83	26.30	28.83
7106	1.93	436.9	3714	3287	979	981	257.3	50.3	310	7111	0.00	2.00	0.00	0.000	516	0.000	0.031	3724	1925	980	979	981	0	0	0	0	0	0	28.83	26.36	28.83
7165	1.93	436.9	3723	1923	979	981	235.5	49.5	312	7172	0.00	2.10	0.00	0.000	1030	0.000	0.032	3724	3314	979	979	980	0	0	0	0	0	0	28.83	26.36	28.83
7471	1.93	436.9	3724	3314	978	979	90.2	47.4	328	7476	0.00	0.65	0.00	0.000	260	0.000	0.043	3724	3770	978	979	978	0	0	0	0	0	0	28.83	26.44	28.83
7641	1.93	436.9	3724	3769	978	977	28.8	36.8	338	7647	0.00	0.62	0.00	0.000	1030	0.000	0.026	3728	3296	977	978	977	0	0	0	0	0	0	28.83	26.53	28.83
7722	end climb: SURFACE_DEPTH_REACHED
state	7722	begin surface coast
7727	end surface coast: CONTROL_FINISHED_OK
state	7727	begin surface