Glider dive log

OKMC Nov11 * SG169 * Dive index * Mission links * Dive 624 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_B 0.010078 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 624 HEADING 270 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2630 ALTIM_PING_DELTA 0

D_TGT 540 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 110 SM_CC 425 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 180 UPLOAD_DIVES_MAX -1 C_VBD 2979 DEVICE3 35

T_MISSION 220 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 3 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -8 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -13704.754 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

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 9.5 XPDR_DEVICE 24

MAX_BUOY 300 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2010 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354053

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -76.737366 SEABIRD_T_H 0.0006253231

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3840643e-05

MASS 51570 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5685486e-06

NAV_MODE 2 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9554796

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1274287

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0019472764

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023438112

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 540 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3945 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 146 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 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 0.000115925 T_BOOST 4

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -76.737366 T_DIVE 180

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 1 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING 270 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -13704.754

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 220

COMPASS_DEVICE 33 ID 169 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 -1.1 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2010 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 330 T_WATCHDOG 10

C_ROLL_DIVE 2630 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2979 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3795 USE_BATHY -8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51570 ROLL_MIN 220 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 300 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT -10 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MAX 3960

DEVICE5 -1 MISSION 5 SEABIRD_C_G -9.9554796 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1274287 VBD_MIN 435

DIVE 624 NAV_MODE 2 SEABIRD_C_I -0.0019472764 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023438112 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 110 N_DIVES 0 SEABIRD_T_G 0.0043354053 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.0006253231 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3840643e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.5685486e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 090312,193521,2333.388,12140.621,40,3.2,60,-3.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2333.700,12128.985

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090312,194306,2333.700,12140.767,44,2.0,44,-3.1 MHEAD_RNG_PITCHd_Wd 271.3,20000,-12.5,-10.000

SPEED_LIMITS 0.173,0.352 D_GRID 1319

Post-dive calculations and measurements:

FINISH 0.3,1.021917 _10V_AH 9.9,75.604

SM_CCo 8684,0.00,0.000,0,0,693,560.51 FG_AHR_24Vo 0.000

SM_GC 0.85,5.65,0.28,0.00,0.026,0.058,0.000,115,2659,693,-5.81,-0.25,560.51,0,0,0,0,0,0,25.79,26.08,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2326.22,12143.38,090312,161622 MEM 324648

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 73680,1110

HUMID 51.65 CAP_FILE_SIZE 122270,0

INTERNAL_PRESSURE 9.54494 CFSIZE 260165632,164110336

TCM_TEMP 23.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.379, 82.0,1

_24V_AH 24.2,127.423 GPS 090312,220954,2333.944,12140.747,70,1.1,70,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 240 98.39 SBE_CT 745 24 432.89

Roll_motor 78 61 118.39 AA4330 1275 33 1018.79

VBD_pump_during_apogee 673 878 14335.88 WL_BB2F 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 26 103 65.79 nil 0 0 0.00

Iridium_during_connect 25 160 98.69 nil 0 0 0.00

Iridium_during_xfer 228 223 1231.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 50 22.29

TT8 2597 19 509.21

LPSleep 3307 2 71.72

TT8_Active 716 19 140.46

TT8_Sampling 2187 39 861.93

TT8_CF8 319 45 144.80

TT8_Kalman 0 0 0.00

Analog_circuits 1757 12 208.76

GPS_charging 0 0 0.00

Compass 1769 15 262.78

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 pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.67 -292.0 0.0 0.0 0 113 0.00 0.00 -93.72 0.000 2 0.000 0.000 114 2666 2821 0 0 0 0 0 0 28.83 28.83 28.83

117 -0.67 -292.0 3.6 -6.9 16 155 7.15 1.77 -20.77 0.000 4 0.240 0.053 1774 3827 3964 0 0 0 0 0 0 25.03 25.69 26.51

198 -0.52 -292.0 43.5 -47.3 30 206 0.22 1.75 0.00 0.000 6 0.142 0.020 1841 2545 3964 0 0 0 0 0 0 25.33 26.10 28.83

513 -0.46 -292.0 111.5 -15.5 91 519 0.00 0.00 0.00 0.000 6 0.000 0.000 1842 2545 3965 0 0 0 0 0 0 28.83 28.83 28.83

826 -0.41 -292.0 161.2 -15.4 152 833 0.12 2.20 0.00 0.000 4 0.146 0.025 1889 1164 3965 0 0 0 0 0 0 25.98 25.67 28.83

881 -0.49 -292.0 166.1 -6.3 162 889 0.12 2.50 0.00 0.000 6 0.079 0.033 1832 2658 3964 0 0 0 0 0 0 25.51 25.55 28.83

1201 -0.53 -292.0 190.6 -7.4 223 1209 0.00 1.75 0.00 0.000 4 0.000 0.043 1831 3825 3965 0 0 0 0 0 0 28.83 25.45 28.83

1279 -0.62 -292.0 196.6 -8.4 237 1286 0.00 1.75 0.00 0.000 6 0.000 0.021 1832 2572 3964 0 0 0 0 0 0 28.83 26.02 28.83

1590 -0.72 -292.0 227.8 -10.9 271 1592 0.17 0.00 0.00 0.000 6 0.102 0.000 1770 2572 3962 0 0 0 0 0 0 26.03 28.83 28.83

1890 -0.75 -292.0 262.4 -10.9 301 1899 0.00 2.22 0.00 0.000 4 0.000 0.026 1770 1173 3960 0 0 0 0 0 0 28.83 25.71 28.83

1932 -0.75 -292.0 267.4 -11.8 305 1941 0.00 2.50 0.00 0.000 6 0.000 0.037 1758 2644 3960 0 0 0 0 0 0 28.83 25.45 28.83

2243 -0.66 -292.0 334.2 -21.0 336 2252 0.12 2.38 0.00 0.000 4 0.158 0.026 1800 1187 3958 0 0 0 0 0 0 25.92 25.60 28.83

2338 -0.68 -292.0 346.5 -9.2 345 2346 0.00 2.45 0.00 0.000 6 0.000 0.037 1799 2643 3957 0 0 0 0 0 0 28.83 25.46 28.83

2646 -0.63 -292.0 387.6 -14.3 376 2655 0.00 2.38 0.00 0.000 4 0.000 0.026 1799 1184 3955 0 0 0 0 0 0 28.83 25.65 28.83

2701 -0.62 -292.0 394.2 -12.1 381 2708 0.00 2.47 0.00 0.000 6 0.000 0.037 1799 2646 3954 0 0 0 0 0 0 28.83 25.43 28.83

3010 -0.58 -292.0 436.7 -14.6 412 3018 0.00 2.40 0.00 0.000 4 0.000 0.029 1799 1191 3952 0 0 0 0 0 0 28.83 25.57 28.83

3044 -0.55 -292.0 441.0 -13.7 415 3053 0.12 2.50 0.00 0.000 6 0.107 0.039 1843 2652 3952 0 0 0 0 0 0 25.26 25.36 28.83

3352 -0.56 -292.0 465.1 -7.6 446 3361 0.00 2.40 0.00 0.000 4 0.000 0.028 1844 1182 3949 0 0 0 0 0 0 28.83 25.60 28.83

3396 -0.60 -292.0 468.5 -7.5 450 3404 0.00 2.47 0.00 0.000 6 0.000 0.036 1842 2647 3949 0 0 0 0 0 0 28.83 25.44 28.83

3706 -0.71 -292.0 498.7 -11.0 481 3716 0.15 1.75 0.00 0.000 4 0.091 0.044 1781 3815 3946 0 0 0 0 0 0 26.10 25.29 28.83

3783 -0.81 -292.0 507.1 -11.4 488 3793 0.12 1.75 0.00 0.000 6 0.102 0.023 1734 2578 3946 0 0 0 0 0 0 25.73 25.95 28.83

3998 end dive: TARGET_DEPTH_EXCEEDED

state 3998 begin apogee

4004 -0.20 0.0 540.2 -21.9 510 4212 0.65 0.20 195.88 0.879 6 0.116 0.062 1940 2525 2968 0 0 0 0 0 0 24.65 25.19 24.25

4213 end apogee: CONTROL_FINISHED_OK

state 4213 begin climb

4215 0.67 292.0 555.5 0.0 531 4475 0.75 2.15 249.75 0.864 4 0.046 0.044 2235 3821 1775 0 0 0 0 0 0 25.28 25.25 24.29

4537 0.59 292.0 521.2 21.3 563 4544 0.17 2.08 0.00 0.000 6 0.165 0.025 2201 2457 1763 0 0 0 0 0 0 25.10 25.64 28.83

4845 0.54 292.0 469.4 16.7 594 4849 0.00 2.17 0.00 0.000 4 0.000 0.042 2200 3818 1758 0 0 0 0 0 0 28.83 25.54 28.83

4877 0.48 292.0 463.8 17.4 597 4882 0.15 2.05 0.00 0.000 6 0.151 0.024 2170 2461 1758 0 0 0 0 0 0 25.42 25.85 28.83

5190 0.47 292.0 423.0 12.3 628 5191 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2460 1756 0 0 0 0 0 0 28.83 28.83 28.83

5493 0.45 292.0 388.6 11.2 658 5502 0.00 2.15 0.00 0.000 4 0.000 0.042 2170 3806 1754 0 0 0 0 0 0 28.83 25.39 28.83

5558 0.45 292.0 381.1 11.3 664 5566 0.00 2.05 0.00 0.000 6 0.000 0.026 2180 2454 1754 0 0 0 0 0 0 28.83 25.75 28.83

5865 0.42 292.0 348.6 10.1 695 5875 0.12 2.20 0.00 0.000 4 0.152 0.031 2151 1051 1752 0 0 0 0 0 0 25.89 25.48 28.83

5890 0.42 295.8 346.6 9.9 697 5899 0.00 2.38 0.00 0.000 6 0.000 0.035 2151 2514 1752 0 0 0 0 0 0 28.83 25.46 28.83

6198 0.56 397.7 324.5 7.6 728 6298 0.12 2.08 92.30 0.715 4 0.073 0.041 2242 3813 1344 0 0 0 0 0 0 26.27 25.47 24.49

6311 0.50 397.7 306.7 17.9 739 6321 0.28 2.08 0.00 0.000 6 0.139 0.025 2173 2454 1334 0 0 0 0 0 0 25.06 25.62 28.83

6622 0.62 476.6 279.4 8.2 770 6693 0.10 0.00 67.75 0.683 6 0.090 0.000 2249 2453 1035 0 0 0 0 0 0 26.25 28.83 24.62

6993 0.58 476.6 208.2 16.6 807 7003 0.15 2.22 0.00 0.000 4 0.147 0.040 2201 3824 1008 0 0 0 0 0 0 25.77 25.48 28.83

7046 0.60 476.6 201.1 11.8 812 7056 0.00 2.08 0.00 0.000 6 0.000 0.023 2211 2444 1006 0 0 0 0 0 0 28.83 25.89 28.83

7361 0.72 476.6 167.3 10.6 872 7369 0.00 2.20 0.00 0.000 4 0.000 0.039 2208 3824 1005 0 0 0 0 0 0 28.83 25.44 28.83

7433 0.84 476.6 159.6 11.6 885 7441 0.20 2.05 0.00 0.000 6 0.070 0.023 2286 2447 1005 0 0 0 0 0 0 25.69 25.89 28.83

7750 1.01 553.1 130.6 8.2 946 7825 0.12 2.28 68.28 0.576 4 0.083 0.042 2355 3814 714 0 0 0 0 0 0 26.21 25.65 24.75

7925 0.99 553.1 90.3 21.2 977 7932 0.12 2.05 0.00 0.000 6 0.137 0.028 2330 2470 697 0 0 0 0 0 0 25.44 25.70 28.83

8238 0.99 553.1 41.9 11.4 1038 8244 0.00 2.28 0.00 0.000 4 0.000 0.037 2341 1057 695 0 0 0 0 0 0 28.83 25.50 28.83

8327 1.01 553.1 32.9 10.8 1055 8335 0.00 2.35 0.00 0.000 6 0.000 0.031 2341 2523 693 0 0 0 0 0 0 28.83 25.61 28.83

8587 end climb: SURFACE_DEPTH_REACHED

state 8587 begin surface coast

8608 end surface coast: CONTROL_FINISHED_OK

state 8608 begin surface

ID	169	HD_B	0.010078	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	624	HEADING	270	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2630	ALTIM_PING_DELTA	0
D_TGT	540	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	110	SM_CC	425	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	180	UPLOAD_DIVES_MAX	-1	C_VBD	2979	DEVICE3	35
T_MISSION	220	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	3	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-8	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-13704.754	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
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	9.5	XPDR_DEVICE	24
MAX_BUOY	300	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2010	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354053
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-76.737366	SEABIRD_T_H	0.0006253231
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3840643e-05
MASS	51570	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5685486e-06
NAV_MODE	2	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9554796
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1274287
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0019472764
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023438112

GPS1	090312,193521,2333.388,12140.621,40,3.2,60,-3.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2333.700,12128.985
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090312,194306,2333.700,12140.767,44,2.0,44,-3.1	MHEAD_RNG_PITCHd_Wd	271.3,20000,-12.5,-10.000
SPEED_LIMITS	0.173,0.352	D_GRID	1319

FINISH	0.3,1.021917	_10V_AH	9.9,75.604
SM_CCo	8684,0.00,0.000,0,0,693,560.51	FG_AHR_24Vo	0.000
SM_GC	0.85,5.65,0.28,0.00,0.026,0.058,0.000,115,2659,693,-5.81,-0.25,560.51,0,0,0,0,0,0,25.79,26.08,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2326.22,12143.38,090312,161622	MEM	324648
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	73680,1110
HUMID	51.65	CAP_FILE_SIZE	122270,0
INTERNAL_PRESSURE	9.54494	CFSIZE	260165632,164110336
TCM_TEMP	23.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.379, 82.0,1
_24V_AH	24.2,127.423	GPS	090312,220954,2333.944,12140.747,70,1.1,70,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	240	98.39	SBE_CT	745	24	432.89
Roll_motor	78	61	118.39	AA4330	1275	33	1018.79
VBD_pump_during_apogee	673	878	14335.88	WL_BB2F	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	26	103	65.79	nil	0	0	0.00
Iridium_during_connect	25	160	98.69	nil	0	0	0.00
Iridium_during_xfer	228	223	1231.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	50	22.29
TT8	2597	19	509.21
LPSleep	3307	2	71.72
TT8_Active	716	19	140.46
TT8_Sampling	2187	39	861.93
TT8_CF8	319	45	144.80
TT8_Kalman	0	0	0.00
Analog_circuits	1757	12	208.76
GPS_charging	0	0	0.00
Compass	1769	15	262.78
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	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.67	-292.0	0.0	0.0	0	113	0.00	0.00	-93.72	0.000	2	0.000	0.000	114	2666	2821	0	0	0	0	0	0	28.83	28.83	28.83
117	-0.67	-292.0	3.6	-6.9	16	155	7.15	1.77	-20.77	0.000	4	0.240	0.053	1774	3827	3964	0	0	0	0	0	0	25.03	25.69	26.51
198	-0.52	-292.0	43.5	-47.3	30	206	0.22	1.75	0.00	0.000	6	0.142	0.020	1841	2545	3964	0	0	0	0	0	0	25.33	26.10	28.83
513	-0.46	-292.0	111.5	-15.5	91	519	0.00	0.00	0.00	0.000	6	0.000	0.000	1842	2545	3965	0	0	0	0	0	0	28.83	28.83	28.83
826	-0.41	-292.0	161.2	-15.4	152	833	0.12	2.20	0.00	0.000	4	0.146	0.025	1889	1164	3965	0	0	0	0	0	0	25.98	25.67	28.83
881	-0.49	-292.0	166.1	-6.3	162	889	0.12	2.50	0.00	0.000	6	0.079	0.033	1832	2658	3964	0	0	0	0	0	0	25.51	25.55	28.83
1201	-0.53	-292.0	190.6	-7.4	223	1209	0.00	1.75	0.00	0.000	4	0.000	0.043	1831	3825	3965	0	0	0	0	0	0	28.83	25.45	28.83
1279	-0.62	-292.0	196.6	-8.4	237	1286	0.00	1.75	0.00	0.000	6	0.000	0.021	1832	2572	3964	0	0	0	0	0	0	28.83	26.02	28.83
1590	-0.72	-292.0	227.8	-10.9	271	1592	0.17	0.00	0.00	0.000	6	0.102	0.000	1770	2572	3962	0	0	0	0	0	0	26.03	28.83	28.83
1890	-0.75	-292.0	262.4	-10.9	301	1899	0.00	2.22	0.00	0.000	4	0.000	0.026	1770	1173	3960	0	0	0	0	0	0	28.83	25.71	28.83
1932	-0.75	-292.0	267.4	-11.8	305	1941	0.00	2.50	0.00	0.000	6	0.000	0.037	1758	2644	3960	0	0	0	0	0	0	28.83	25.45	28.83
2243	-0.66	-292.0	334.2	-21.0	336	2252	0.12	2.38	0.00	0.000	4	0.158	0.026	1800	1187	3958	0	0	0	0	0	0	25.92	25.60	28.83
2338	-0.68	-292.0	346.5	-9.2	345	2346	0.00	2.45	0.00	0.000	6	0.000	0.037	1799	2643	3957	0	0	0	0	0	0	28.83	25.46	28.83
2646	-0.63	-292.0	387.6	-14.3	376	2655	0.00	2.38	0.00	0.000	4	0.000	0.026	1799	1184	3955	0	0	0	0	0	0	28.83	25.65	28.83
2701	-0.62	-292.0	394.2	-12.1	381	2708	0.00	2.47	0.00	0.000	6	0.000	0.037	1799	2646	3954	0	0	0	0	0	0	28.83	25.43	28.83
3010	-0.58	-292.0	436.7	-14.6	412	3018	0.00	2.40	0.00	0.000	4	0.000	0.029	1799	1191	3952	0	0	0	0	0	0	28.83	25.57	28.83
3044	-0.55	-292.0	441.0	-13.7	415	3053	0.12	2.50	0.00	0.000	6	0.107	0.039	1843	2652	3952	0	0	0	0	0	0	25.26	25.36	28.83
3352	-0.56	-292.0	465.1	-7.6	446	3361	0.00	2.40	0.00	0.000	4	0.000	0.028	1844	1182	3949	0	0	0	0	0	0	28.83	25.60	28.83
3396	-0.60	-292.0	468.5	-7.5	450	3404	0.00	2.47	0.00	0.000	6	0.000	0.036	1842	2647	3949	0	0	0	0	0	0	28.83	25.44	28.83
3706	-0.71	-292.0	498.7	-11.0	481	3716	0.15	1.75	0.00	0.000	4	0.091	0.044	1781	3815	3946	0	0	0	0	0	0	26.10	25.29	28.83
3783	-0.81	-292.0	507.1	-11.4	488	3793	0.12	1.75	0.00	0.000	6	0.102	0.023	1734	2578	3946	0	0	0	0	0	0	25.73	25.95	28.83
3998	end dive: TARGET_DEPTH_EXCEEDED
state	3998	begin apogee
4004	-0.20	0.0	540.2	-21.9	510	4212	0.65	0.20	195.88	0.879	6	0.116	0.062	1940	2525	2968	0	0	0	0	0	0	24.65	25.19	24.25
4213	end apogee: CONTROL_FINISHED_OK
state	4213	begin climb
4215	0.67	292.0	555.5	0.0	531	4475	0.75	2.15	249.75	0.864	4	0.046	0.044	2235	3821	1775	0	0	0	0	0	0	25.28	25.25	24.29
4537	0.59	292.0	521.2	21.3	563	4544	0.17	2.08	0.00	0.000	6	0.165	0.025	2201	2457	1763	0	0	0	0	0	0	25.10	25.64	28.83
4845	0.54	292.0	469.4	16.7	594	4849	0.00	2.17	0.00	0.000	4	0.000	0.042	2200	3818	1758	0	0	0	0	0	0	28.83	25.54	28.83
4877	0.48	292.0	463.8	17.4	597	4882	0.15	2.05	0.00	0.000	6	0.151	0.024	2170	2461	1758	0	0	0	0	0	0	25.42	25.85	28.83
5190	0.47	292.0	423.0	12.3	628	5191	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2460	1756	0	0	0	0	0	0	28.83	28.83	28.83
5493	0.45	292.0	388.6	11.2	658	5502	0.00	2.15	0.00	0.000	4	0.000	0.042	2170	3806	1754	0	0	0	0	0	0	28.83	25.39	28.83
5558	0.45	292.0	381.1	11.3	664	5566	0.00	2.05	0.00	0.000	6	0.000	0.026	2180	2454	1754	0	0	0	0	0	0	28.83	25.75	28.83
5865	0.42	292.0	348.6	10.1	695	5875	0.12	2.20	0.00	0.000	4	0.152	0.031	2151	1051	1752	0	0	0	0	0	0	25.89	25.48	28.83
5890	0.42	295.8	346.6	9.9	697	5899	0.00	2.38	0.00	0.000	6	0.000	0.035	2151	2514	1752	0	0	0	0	0	0	28.83	25.46	28.83
6198	0.56	397.7	324.5	7.6	728	6298	0.12	2.08	92.30	0.715	4	0.073	0.041	2242	3813	1344	0	0	0	0	0	0	26.27	25.47	24.49
6311	0.50	397.7	306.7	17.9	739	6321	0.28	2.08	0.00	0.000	6	0.139	0.025	2173	2454	1334	0	0	0	0	0	0	25.06	25.62	28.83
6622	0.62	476.6	279.4	8.2	770	6693	0.10	0.00	67.75	0.683	6	0.090	0.000	2249	2453	1035	0	0	0	0	0	0	26.25	28.83	24.62
6993	0.58	476.6	208.2	16.6	807	7003	0.15	2.22	0.00	0.000	4	0.147	0.040	2201	3824	1008	0	0	0	0	0	0	25.77	25.48	28.83
7046	0.60	476.6	201.1	11.8	812	7056	0.00	2.08	0.00	0.000	6	0.000	0.023	2211	2444	1006	0	0	0	0	0	0	28.83	25.89	28.83
7361	0.72	476.6	167.3	10.6	872	7369	0.00	2.20	0.00	0.000	4	0.000	0.039	2208	3824	1005	0	0	0	0	0	0	28.83	25.44	28.83
7433	0.84	476.6	159.6	11.6	885	7441	0.20	2.05	0.00	0.000	6	0.070	0.023	2286	2447	1005	0	0	0	0	0	0	25.69	25.89	28.83
7750	1.01	553.1	130.6	8.2	946	7825	0.12	2.28	68.28	0.576	4	0.083	0.042	2355	3814	714	0	0	0	0	0	0	26.21	25.65	24.75
7925	0.99	553.1	90.3	21.2	977	7932	0.12	2.05	0.00	0.000	6	0.137	0.028	2330	2470	697	0	0	0	0	0	0	25.44	25.70	28.83
8238	0.99	553.1	41.9	11.4	1038	8244	0.00	2.28	0.00	0.000	4	0.000	0.037	2341	1057	695	0	0	0	0	0	0	28.83	25.50	28.83
8327	1.01	553.1	32.9	10.8	1055	8335	0.00	2.35	0.00	0.000	6	0.000	0.031	2341	2523	693	0	0	0	0	0	0	28.83	25.61	28.83
8587	end climb: SURFACE_DEPTH_REACHED
state	8587	begin surface coast
8608	end surface coast: CONTROL_FINISHED_OK
state	8608	begin surface