Glider dive log

OKMC Nov11 * SG169 * Dive index * Mission links * Dive 642 * 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 642 HEADING -1 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 990 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 330 UPLOAD_DIVES_MAX -1 C_VBD 2979 DEVICE3 35

T_MISSION 360 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 -13731.887 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 990 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 330

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 -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -13731.887

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 360

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 642 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 120312,003038,2339.909,12137.452,10,1.7,10,-3.2 TGT_NAME DOGLEG

_CALLS 1 TGT_LATLONG 2336.000,12140.700

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120312,003728,2340.151,12137.516,13,2.3,32,-3.2 MHEAD_RNG_PITCHd_Wd 193.1,9398,-12.5,-10.000

SPEED_LIMITS 0.173,0.352 D_GRID 570

Post-dive calculations and measurements:

FINISH 0.2,1.022207 _10V_AH 9.9,77.080

SM_CCo 8491,0.00,0.000,0,0,420,627.72 FG_AHR_24Vo 0.000

SM_GC 0.67,5.68,0.43,0.00,0.024,0.045,0.000,122,2657,420,-5.78,-0.34,627.72,0,0,0,0,0,0,25.78,25.98,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2330.93,12134.14,110312,232352 MEM 324460

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 70534,1047

HUMID 58.42 CAP_FILE_SIZE 117278,0

INTERNAL_PRESSURE 9.46681 CFSIZE 260165632,162807808

TCM_TEMP 22.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.220, 62.7,1

_24V_AH 24.2,130.964 GPS 120312,030030,2339.351,12137.907,40,1.4,40,-3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 241 100.62 SBE_CT 703 24 408.60

Roll_motor 87 49 104.93 AA4330 1250 33 998.63

VBD_pump_during_apogee 735 888 15830.22 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 31 103 77.39 nil 0 0 0.00

Iridium_during_connect 41 160 161.50 nil 0 0 0.00

Iridium_during_xfer 196 223 1062.90 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 16.99

TT8 2429 19 476.25

LPSleep 3300 2 71.56

TT8_Active 790 19 154.98

TT8_Sampling 2050 39 807.86

TT8_CF8 321 45 145.99

TT8_Kalman 0 0 0.00

Analog_circuits 1797 12 213.50

GPS_charging 0 0 0.00

Compass 1687 15 250.66

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.67 -292.0 0.0 0.0 0 113 0.00 0.00 -91.68 0.000 2 0.000 0.000 117 2658 2754 0 0 0 0 0 0 28.83 28.83 28.83

118 -0.67 -292.0 3.1 -4.0 16 155 7.15 1.80 -23.98 0.000 4 0.242 0.050 1775 3841 3963 0 0 0 0 0 0 25.15 25.87 26.54

254 -0.61 -292.0 49.0 -20.6 41 261 0.12 1.77 0.00 0.000 6 0.147 0.019 1808 2567 3963 0 0 0 0 0 0 25.77 26.15 28.83

569 -0.53 -292.0 117.8 -19.9 102 576 0.00 2.20 0.00 0.000 4 0.000 0.024 1812 1169 3963 0 0 0 0 0 0 28.83 25.97 28.83

606 -0.49 -292.0 124.3 -16.8 108 614 0.17 2.47 0.00 0.000 6 0.103 0.034 1859 2651 3964 0 0 0 0 0 0 25.66 25.83 28.83

920 -0.49 -292.0 159.9 -9.9 169 926 0.00 2.40 0.00 0.000 4 0.000 0.027 1860 1176 3964 0 0 0 0 0 0 28.83 25.94 28.83

956 -0.52 -292.0 163.3 -9.4 175 964 0.00 2.47 0.00 0.000 6 0.000 0.034 1855 2658 3964 0 0 0 0 0 0 28.83 25.81 28.83

1271 -0.52 -292.0 192.4 -9.1 236 1277 0.00 0.00 0.00 0.000 6 0.000 0.000 1855 2657 3963 0 0 0 0 0 0 28.83 28.83 28.83

1581 -0.53 -292.0 216.3 -6.4 275 1591 0.00 2.38 0.00 0.000 4 0.000 0.026 1855 1182 3961 0 0 0 0 0 0 28.83 25.90 28.83

1639 -0.58 -292.0 219.7 -6.1 280 1645 0.00 2.45 0.00 0.000 6 0.000 0.034 1853 2651 3961 0 0 0 0 0 0 28.83 25.80 28.83

1947 -0.69 -292.0 247.9 -8.9 311 1956 0.17 1.75 0.00 0.000 4 0.067 0.038 1746 3829 3959 0 0 0 0 0 0 26.25 25.75 28.83

2010 -0.66 -292.0 256.1 -13.8 317 2019 0.17 1.73 0.00 0.000 6 0.126 0.020 1797 2578 3959 0 0 0 0 0 0 25.64 26.10 28.83

2319 -0.61 -292.0 301.3 -15.1 348 2323 0.00 2.22 0.00 0.000 4 0.000 0.027 1797 1178 3956 0 0 0 0 0 0 28.83 25.87 28.83

2382 -0.62 -292.0 308.5 -9.9 354 2392 0.00 2.45 0.00 0.000 6 0.000 0.037 1790 2647 3956 0 0 0 0 0 0 28.83 25.72 28.83

2692 -0.57 -292.0 354.0 -15.8 385 2701 0.12 2.38 0.00 0.000 4 0.145 0.023 1832 1170 3954 0 0 0 0 0 0 25.99 25.86 28.83

2735 -0.58 -292.0 358.5 -10.5 389 2744 0.00 2.45 0.00 0.000 6 0.000 0.034 1831 2646 3954 0 0 0 0 0 0 28.83 25.75 28.83

3045 -0.69 -292.0 385.8 -10.0 420 3055 0.12 1.73 0.00 0.000 4 0.122 0.040 1784 3818 3950 0 0 0 0 0 0 26.07 25.67 28.83

3132 -0.78 -292.0 394.3 -10.7 428 3139 0.00 1.75 0.00 0.000 6 0.000 0.023 1790 2581 3950 0 0 0 0 0 0 28.83 26.06 28.83

3439 -0.85 -292.0 422.8 -9.6 459 3448 0.12 1.90 0.00 0.000 4 0.103 0.040 1726 3825 3947 0 0 0 0 0 0 26.17 25.65 28.83

3476 -0.89 -292.0 426.3 -10.0 462 3483 0.00 1.75 0.00 0.000 6 0.000 0.020 1731 2584 3947 0 0 0 0 0 0 28.83 26.07 28.83

3782 -0.80 -292.0 496.4 -22.9 493 3791 0.00 2.20 0.00 0.000 4 0.000 0.026 1732 1186 3945 0 0 0 0 0 0 28.83 25.81 28.83

3897 -0.78 -292.0 516.1 -13.9 504 3907 0.10 2.42 0.00 0.000 6 0.102 0.037 1759 2639 3945 0 0 0 0 0 0 25.41 25.65 28.83

4203 end dive: TARGET_DEPTH_EXCEEDED

state 4203 begin apogee

4211 -0.20 0.0 570.9 -16.6 535 4416 0.55 0.15 194.70 0.889 6 0.113 0.044 1939 2533 2968 0 0 0 0 0 0 25.11 25.22 24.37

4417 end apogee: CONTROL_FINISHED_OK

state 4417 begin climb

4421 0.67 292.0 582.3 0.0 556 4680 0.75 2.12 250.02 0.875 4 0.041 0.042 2242 3816 1778 0 0 0 0 0 0 25.35 25.13 24.25

4701 0.58 292.0 552.0 20.4 584 4708 0.20 2.10 0.00 0.000 6 0.163 0.025 2201 2465 1766 0 0 0 0 0 0 24.85 25.34 28.83

5009 0.52 292.0 506.0 14.6 615 5013 0.00 2.15 0.00 0.000 4 0.000 0.041 2201 3817 1760 0 0 0 0 0 0 28.83 25.58 28.83

5061 0.47 292.0 497.6 15.9 620 5071 0.17 2.08 0.00 0.000 6 0.142 0.025 2162 2453 1758 0 0 0 0 0 0 25.39 25.82 28.83

5372 0.46 292.0 461.5 11.0 651 5380 0.00 2.17 0.00 0.000 4 0.000 0.042 2162 3805 1757 0 0 0 0 0 0 28.83 25.55 28.83

5396 0.44 292.0 458.9 11.2 653 5403 0.00 2.05 0.00 0.000 6 0.000 0.027 2172 2468 1756 0 0 0 0 0 0 28.83 25.81 28.83

5703 0.42 292.0 427.4 10.5 684 5713 0.00 2.15 0.00 0.000 4 0.000 0.041 2172 3819 1756 0 0 0 0 0 0 28.83 25.53 28.83

5726 0.39 292.0 424.4 11.8 686 5736 0.15 2.08 0.00 0.000 6 0.137 0.024 2140 2453 1755 0 0 0 0 0 0 25.44 25.82 28.83

6036 0.48 357.8 398.6 8.5 717 6106 0.00 2.20 59.38 0.760 4 0.000 0.041 2140 3816 1505 0 0 0 0 0 0 28.83 25.57 24.66

6122 0.61 436.4 391.6 8.2 725 6199 0.17 2.08 68.85 0.755 6 0.058 0.024 2269 2463 1190 0 0 0 0 0 0 25.67 25.70 24.60

6500 0.53 436.4 302.7 25.2 763 6509 0.28 2.17 0.00 0.000 4 0.156 0.039 2185 3816 1171 0 0 0 0 0 0 25.28 25.64 28.83

6546 0.49 436.4 294.3 19.7 767 6553 0.00 2.08 0.00 0.000 6 0.000 0.024 2195 2453 1170 0 0 0 0 0 0 28.83 25.86 28.83

6852 0.50 436.4 261.9 10.4 798 6862 0.00 2.25 0.00 0.000 4 0.000 0.034 2207 1036 1169 0 0 0 0 0 0 28.83 25.62 28.83

6876 0.51 436.4 259.3 10.6 800 6886 0.08 2.38 0.00 0.000 6 0.073 0.033 2170 2525 1168 0 0 0 0 0 0 25.52 25.66 28.83

7187 0.71 561.0 237.2 7.1 831 7299 0.15 2.42 105.20 0.656 4 0.064 0.037 2292 1061 683 0 0 0 0 0 0 26.20 25.56 24.74

7331 0.65 561.0 205.7 24.8 845 7340 0.20 2.35 0.00 0.000 6 0.099 0.035 2221 2520 664 0 0 0 0 0 0 25.32 25.60 28.83

7644 0.75 619.7 174.7 8.6 902 7706 0.00 2.42 57.25 0.608 4 0.000 0.032 2232 1054 447 0 0 0 0 0 0 28.83 25.70 24.84

7725 0.97 743.3 168.5 7.1 915 7733 0.25 2.33 0.47 0.290 6 0.051 0.026 2354 2534 432 0 0 0 0 0 0 25.72 25.71 25.08

8040 0.87 743.3 67.0 33.9 976 8047 0.20 2.00 0.00 0.000 4 0.181 0.037 2296 3820 426 0 0 0 0 0 0 25.36 25.60 28.83

8126 1.03 826.9 53.3 8.1 991 8133 0.10 2.05 0.00 0.000 6 0.090 0.022 2369 2443 424 0 0 0 0 0 0 25.82 25.92 28.83

8401 end climb: SURFACE_DEPTH_REACHED

state 8401 begin surface coast

8413 end surface coast: CONTROL_FINISHED_OK

state 8413 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	642	HEADING	-1	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	990	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	330	UPLOAD_DIVES_MAX	-1	C_VBD	2979	DEVICE3	35
T_MISSION	360	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	-13731.887	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	120312,003038,2339.909,12137.452,10,1.7,10,-3.2	TGT_NAME	DOGLEG
_CALLS	1	TGT_LATLONG	2336.000,12140.700
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120312,003728,2340.151,12137.516,13,2.3,32,-3.2	MHEAD_RNG_PITCHd_Wd	193.1,9398,-12.5,-10.000
SPEED_LIMITS	0.173,0.352	D_GRID	570

FINISH	0.2,1.022207	_10V_AH	9.9,77.080
SM_CCo	8491,0.00,0.000,0,0,420,627.72	FG_AHR_24Vo	0.000
SM_GC	0.67,5.68,0.43,0.00,0.024,0.045,0.000,122,2657,420,-5.78,-0.34,627.72,0,0,0,0,0,0,25.78,25.98,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2330.93,12134.14,110312,232352	MEM	324460
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	70534,1047
HUMID	58.42	CAP_FILE_SIZE	117278,0
INTERNAL_PRESSURE	9.46681	CFSIZE	260165632,162807808
TCM_TEMP	22.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.220, 62.7,1
_24V_AH	24.2,130.964	GPS	120312,030030,2339.351,12137.907,40,1.4,40,-3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	241	100.62	SBE_CT	703	24	408.60
Roll_motor	87	49	104.93	AA4330	1250	33	998.63
VBD_pump_during_apogee	735	888	15830.22	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	31	103	77.39	nil	0	0	0.00
Iridium_during_connect	41	160	161.50	nil	0	0	0.00
Iridium_during_xfer	196	223	1062.90	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	16.99
TT8	2429	19	476.25
LPSleep	3300	2	71.56
TT8_Active	790	19	154.98
TT8_Sampling	2050	39	807.86
TT8_CF8	321	45	145.99
TT8_Kalman	0	0	0.00
Analog_circuits	1797	12	213.50
GPS_charging	0	0	0.00
Compass	1687	15	250.66
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.67	-292.0	0.0	0.0	0	113	0.00	0.00	-91.68	0.000	2	0.000	0.000	117	2658	2754	0	0	0	0	0	0	28.83	28.83	28.83
118	-0.67	-292.0	3.1	-4.0	16	155	7.15	1.80	-23.98	0.000	4	0.242	0.050	1775	3841	3963	0	0	0	0	0	0	25.15	25.87	26.54
254	-0.61	-292.0	49.0	-20.6	41	261	0.12	1.77	0.00	0.000	6	0.147	0.019	1808	2567	3963	0	0	0	0	0	0	25.77	26.15	28.83
569	-0.53	-292.0	117.8	-19.9	102	576	0.00	2.20	0.00	0.000	4	0.000	0.024	1812	1169	3963	0	0	0	0	0	0	28.83	25.97	28.83
606	-0.49	-292.0	124.3	-16.8	108	614	0.17	2.47	0.00	0.000	6	0.103	0.034	1859	2651	3964	0	0	0	0	0	0	25.66	25.83	28.83
920	-0.49	-292.0	159.9	-9.9	169	926	0.00	2.40	0.00	0.000	4	0.000	0.027	1860	1176	3964	0	0	0	0	0	0	28.83	25.94	28.83
956	-0.52	-292.0	163.3	-9.4	175	964	0.00	2.47	0.00	0.000	6	0.000	0.034	1855	2658	3964	0	0	0	0	0	0	28.83	25.81	28.83
1271	-0.52	-292.0	192.4	-9.1	236	1277	0.00	0.00	0.00	0.000	6	0.000	0.000	1855	2657	3963	0	0	0	0	0	0	28.83	28.83	28.83
1581	-0.53	-292.0	216.3	-6.4	275	1591	0.00	2.38	0.00	0.000	4	0.000	0.026	1855	1182	3961	0	0	0	0	0	0	28.83	25.90	28.83
1639	-0.58	-292.0	219.7	-6.1	280	1645	0.00	2.45	0.00	0.000	6	0.000	0.034	1853	2651	3961	0	0	0	0	0	0	28.83	25.80	28.83
1947	-0.69	-292.0	247.9	-8.9	311	1956	0.17	1.75	0.00	0.000	4	0.067	0.038	1746	3829	3959	0	0	0	0	0	0	26.25	25.75	28.83
2010	-0.66	-292.0	256.1	-13.8	317	2019	0.17	1.73	0.00	0.000	6	0.126	0.020	1797	2578	3959	0	0	0	0	0	0	25.64	26.10	28.83
2319	-0.61	-292.0	301.3	-15.1	348	2323	0.00	2.22	0.00	0.000	4	0.000	0.027	1797	1178	3956	0	0	0	0	0	0	28.83	25.87	28.83
2382	-0.62	-292.0	308.5	-9.9	354	2392	0.00	2.45	0.00	0.000	6	0.000	0.037	1790	2647	3956	0	0	0	0	0	0	28.83	25.72	28.83
2692	-0.57	-292.0	354.0	-15.8	385	2701	0.12	2.38	0.00	0.000	4	0.145	0.023	1832	1170	3954	0	0	0	0	0	0	25.99	25.86	28.83
2735	-0.58	-292.0	358.5	-10.5	389	2744	0.00	2.45	0.00	0.000	6	0.000	0.034	1831	2646	3954	0	0	0	0	0	0	28.83	25.75	28.83
3045	-0.69	-292.0	385.8	-10.0	420	3055	0.12	1.73	0.00	0.000	4	0.122	0.040	1784	3818	3950	0	0	0	0	0	0	26.07	25.67	28.83
3132	-0.78	-292.0	394.3	-10.7	428	3139	0.00	1.75	0.00	0.000	6	0.000	0.023	1790	2581	3950	0	0	0	0	0	0	28.83	26.06	28.83
3439	-0.85	-292.0	422.8	-9.6	459	3448	0.12	1.90	0.00	0.000	4	0.103	0.040	1726	3825	3947	0	0	0	0	0	0	26.17	25.65	28.83
3476	-0.89	-292.0	426.3	-10.0	462	3483	0.00	1.75	0.00	0.000	6	0.000	0.020	1731	2584	3947	0	0	0	0	0	0	28.83	26.07	28.83
3782	-0.80	-292.0	496.4	-22.9	493	3791	0.00	2.20	0.00	0.000	4	0.000	0.026	1732	1186	3945	0	0	0	0	0	0	28.83	25.81	28.83
3897	-0.78	-292.0	516.1	-13.9	504	3907	0.10	2.42	0.00	0.000	6	0.102	0.037	1759	2639	3945	0	0	0	0	0	0	25.41	25.65	28.83
4203	end dive: TARGET_DEPTH_EXCEEDED
state	4203	begin apogee
4211	-0.20	0.0	570.9	-16.6	535	4416	0.55	0.15	194.70	0.889	6	0.113	0.044	1939	2533	2968	0	0	0	0	0	0	25.11	25.22	24.37
4417	end apogee: CONTROL_FINISHED_OK
state	4417	begin climb
4421	0.67	292.0	582.3	0.0	556	4680	0.75	2.12	250.02	0.875	4	0.041	0.042	2242	3816	1778	0	0	0	0	0	0	25.35	25.13	24.25
4701	0.58	292.0	552.0	20.4	584	4708	0.20	2.10	0.00	0.000	6	0.163	0.025	2201	2465	1766	0	0	0	0	0	0	24.85	25.34	28.83
5009	0.52	292.0	506.0	14.6	615	5013	0.00	2.15	0.00	0.000	4	0.000	0.041	2201	3817	1760	0	0	0	0	0	0	28.83	25.58	28.83
5061	0.47	292.0	497.6	15.9	620	5071	0.17	2.08	0.00	0.000	6	0.142	0.025	2162	2453	1758	0	0	0	0	0	0	25.39	25.82	28.83
5372	0.46	292.0	461.5	11.0	651	5380	0.00	2.17	0.00	0.000	4	0.000	0.042	2162	3805	1757	0	0	0	0	0	0	28.83	25.55	28.83
5396	0.44	292.0	458.9	11.2	653	5403	0.00	2.05	0.00	0.000	6	0.000	0.027	2172	2468	1756	0	0	0	0	0	0	28.83	25.81	28.83
5703	0.42	292.0	427.4	10.5	684	5713	0.00	2.15	0.00	0.000	4	0.000	0.041	2172	3819	1756	0	0	0	0	0	0	28.83	25.53	28.83
5726	0.39	292.0	424.4	11.8	686	5736	0.15	2.08	0.00	0.000	6	0.137	0.024	2140	2453	1755	0	0	0	0	0	0	25.44	25.82	28.83
6036	0.48	357.8	398.6	8.5	717	6106	0.00	2.20	59.38	0.760	4	0.000	0.041	2140	3816	1505	0	0	0	0	0	0	28.83	25.57	24.66
6122	0.61	436.4	391.6	8.2	725	6199	0.17	2.08	68.85	0.755	6	0.058	0.024	2269	2463	1190	0	0	0	0	0	0	25.67	25.70	24.60
6500	0.53	436.4	302.7	25.2	763	6509	0.28	2.17	0.00	0.000	4	0.156	0.039	2185	3816	1171	0	0	0	0	0	0	25.28	25.64	28.83
6546	0.49	436.4	294.3	19.7	767	6553	0.00	2.08	0.00	0.000	6	0.000	0.024	2195	2453	1170	0	0	0	0	0	0	28.83	25.86	28.83
6852	0.50	436.4	261.9	10.4	798	6862	0.00	2.25	0.00	0.000	4	0.000	0.034	2207	1036	1169	0	0	0	0	0	0	28.83	25.62	28.83
6876	0.51	436.4	259.3	10.6	800	6886	0.08	2.38	0.00	0.000	6	0.073	0.033	2170	2525	1168	0	0	0	0	0	0	25.52	25.66	28.83
7187	0.71	561.0	237.2	7.1	831	7299	0.15	2.42	105.20	0.656	4	0.064	0.037	2292	1061	683	0	0	0	0	0	0	26.20	25.56	24.74
7331	0.65	561.0	205.7	24.8	845	7340	0.20	2.35	0.00	0.000	6	0.099	0.035	2221	2520	664	0	0	0	0	0	0	25.32	25.60	28.83
7644	0.75	619.7	174.7	8.6	902	7706	0.00	2.42	57.25	0.608	4	0.000	0.032	2232	1054	447	0	0	0	0	0	0	28.83	25.70	24.84
7725	0.97	743.3	168.5	7.1	915	7733	0.25	2.33	0.47	0.290	6	0.051	0.026	2354	2534	432	0	0	0	0	0	0	25.72	25.71	25.08
8040	0.87	743.3	67.0	33.9	976	8047	0.20	2.00	0.00	0.000	4	0.181	0.037	2296	3820	426	0	0	0	0	0	0	25.36	25.60	28.83
8126	1.03	826.9	53.3	8.1	991	8133	0.10	2.05	0.00	0.000	6	0.090	0.022	2369	2443	424	0	0	0	0	0	0	25.82	25.92	28.83
8401	end climb: SURFACE_DEPTH_REACHED
state	8401	begin surface coast
8413	end surface coast: CONTROL_FINISHED_OK
state	8413	begin surface