Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 75 * 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 75 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 64 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 550 R_STBD_OVSHOOT 42 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 1 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 350 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 370 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 -974964.69 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 2 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 550

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 1 T_DIVE 350

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 -974964.69

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 370

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 64 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 42 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 2 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 75 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 290613,032853,2144.457,12028.673,39,2.0,39,-3.1 TGT_NAME T4

_CALLS 1 TGT_LATLONG 2100.000,12030.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_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 -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290613,033615,2144.408,12028.562,10,1.4,10,-3.1 MHEAD_RNG_PITCHd_Wd 170.3,82281,-15.7,-9.429,-18.82,2841

SPEED_LIMITS 0.163,0.277 D_GRID 662

Post-dive calculations and measurements:

FINISH 0.9,1.020616 _10V_AH 10.3,5.853

SM_CCo 7296,84.53,0.128,0,0,519,550.21 FG_AHR_24Vo 0.000

SM_GC 1.62,9.00,2.78,84.53,0.036,0.021,0.128,141,1926,519,-9.14,2.04,550.21,0,0,0,0,0,0,26.36,26.40,26.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2136.49,12029.58,290613,000023 MEM 324164

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 13472,383

HUMID 53.50 CAP_FILE_SIZE 97292,0

INTERNAL_PRESSURE 9.47302 CFSIZE 260034560,244625408

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.082,264.3,1

SC_FREEKB 7687392 GPS 290613,054106,2143.541,12028.197,36,1.2,36,-3.1

_24V_AH 24.2,8.204

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 237 127.82 nil 0 0 0.00

Roll_motor 61 47 70.45 nil 0 0 0.00

VBD_pump_during_apogee 364 978 8639.56 nil 0 0 0.00

VBD_pump_during_surface 84 127 261.32 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 7273 8 1431.81

Iridium_during_xfer 264 113 730.09 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.73

TT8 1392 13 200.18

LPSleep 4167 2 94.00

TT8_Active 519 13 74.74

TT8_Sampling 1425 40 589.83

TT8_CF8 320 47 157.53

TT8_Kalman 0 0 0.00

Analog_circuits 1435 16 236.58

GPS_charging 0 0 0.00

Compass 1150 5 59.24

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 22 begin dive

25 -1.11 -175.2 123 1880 456 584 0.0 0.0 0 129 0.00 0.00 -101.05 0.000 16386 0.000 0.000 122 1880 3017 2995 3040 0 0 0 0 0 0 28.83 28.83 28.83

137 -1.11 -175.2 122 1880 2995 3041 3.5 -5.5 18 164 10.25 2.17 -7.97 0.000 18692 0.238 0.047 2710 3325 3480 3472 3488 0 0 0 0 0 0 25.94 26.20 26.44

394 -1.11 -175.2 2710 3326 3474 3490 96.6 -34.6 38 401 0.00 2.03 0.00 0.000 1030 0.000 0.016 2709 1884 3482 3474 3490 0 0 0 0 0 0 28.83 26.39 28.83

701 -1.11 -175.2 2709 1884 3477 3490 181.2 -24.5 54 706 0.00 2.08 0.00 0.000 260 0.000 0.025 2700 3323 3483 3477 3490 0 0 0 0 0 0 28.83 26.48 28.83

931 -1.11 -175.2 2699 3323 3477 3490 226.6 -20.1 65 937 0.00 2.00 0.00 0.000 1030 0.000 0.016 2699 1896 3484 3478 3490 0 0 0 0 0 0 28.83 26.57 28.83

1252 -1.11 -175.2 2699 1896 3478 3490 288.9 -18.8 81 1257 0.00 1.98 0.00 0.000 516 0.000 0.029 2700 522 3484 3478 3490 0 0 0 0 0 0 28.83 26.58 28.83

1301 -1.11 -175.2 2699 521 3478 3490 298.6 -20.5 83 1307 0.15 1.98 0.00 0.000 3078 0.181 0.017 2727 1930 3483 3477 3490 0 0 0 0 0 0 26.45 26.63 28.83

1621 -1.11 -175.2 2727 1930 3477 3486 362.4 -17.1 99 1627 0.00 2.05 0.00 0.000 516 0.000 0.029 2728 523 3482 3478 3486 0 0 0 0 0 0 28.83 26.63 28.83

1660 -1.11 -175.2 2727 523 3478 3486 366.7 -17.0 100 1668 0.00 1.95 0.00 0.000 1030 0.000 0.018 2720 1910 3481 3477 3485 0 0 0 0 0 0 28.83 26.65 28.83

1966 -1.11 -175.2 2720 1910 3477 3480 417.9 -16.2 116 1972 0.00 2.00 0.00 0.000 260 0.000 0.031 2710 3294 3478 3476 3480 0 0 0 0 0 0 28.83 26.65 28.83

2194 -1.11 -175.2 2708 3296 3480 3475 456.8 -16.5 127 2200 0.00 1.98 0.00 0.000 1030 0.000 0.018 2708 1900 3477 3480 3474 0 0 0 0 0 0 28.83 26.69 28.83

2519 -1.11 -175.2 2709 1900 3479 3469 512.3 -17.1 143 2525 0.00 2.00 0.00 0.000 516 0.000 0.032 2708 519 3474 3480 3468 0 0 0 0 0 0 28.83 26.67 28.83

2574 -1.11 -175.2 2708 519 3480 3468 520.2 -17.6 145 2579 0.00 1.95 0.00 0.000 1030 0.000 0.018 2700 1902 3472 3478 3467 0 0 0 0 0 0 28.83 26.70 28.83

2888 -1.11 -175.2 2700 1902 3480 3462 573.5 -16.1 161 2893 0.00 2.03 0.00 0.000 516 0.000 0.030 2700 515 3470 3479 3462 0 0 0 0 0 0 28.83 26.68 28.83

2953 -1.11 -175.2 2700 515 3479 3461 583.4 -15.3 164 2959 0.12 1.98 0.00 0.000 3078 0.187 0.020 2727 1893 3470 3480 3460 0 0 0 0 0 0 26.55 26.70 28.83

3279 -1.11 -175.2 2726 1893 3480 3455 622.1 -11.9 177 3284 0.00 2.05 0.00 0.000 260 0.000 0.032 2718 3300 3467 3480 3455 0 0 0 0 0 0 28.83 26.69 28.83

3392 -1.11 -175.2 2718 3300 3479 3453 633.8 -12.3 180 3398 0.00 1.98 0.00 0.000 1030 0.000 0.018 2718 1895 3465 3479 3452 0 0 0 0 0 0 28.83 26.72 28.83

3585 end dive: TARGET_DEPTH_EXCEEDED

state 3585 begin apogee

3595 -0.19 0.0 2710 3290 3480 3449 664.5 -14.8 187 3747 0.95 0.00 141.32 0.978 10246 0.145 0.000 3015 3289 2753 2819 2687 0 0 0 0 0 0 26.55 28.83 24.34

3750 end apogee: CONTROL_FINISHED_OK

state 3750 begin climb

3753 1.11 175.2 3015 3289 2816 2678 670.4 0.0 192 3909 1.15 0.77 146.00 0.945 10500 0.047 0.045 3443 3764 2043 2137 1950 0 0 0 0 0 0 25.19 24.83 24.20

3958 1.11 175.2 3443 3764 2123 1919 639.3 20.6 199 3964 0.00 0.65 0.00 0.000 1030 0.000 0.031 3447 3321 2021 2123 1919 0 0 0 0 0 0 28.83 25.41 28.83

4279 1.11 175.2 3446 3321 2122 1909 558.3 24.9 212 4284 0.00 2.12 0.00 0.000 516 0.000 0.025 3457 1882 2016 2123 1909 0 0 0 0 0 0 28.83 26.10 28.83

4516 1.11 175.2 3456 1881 2122 1906 507.7 22.2 223 4521 0.00 2.15 0.00 0.000 1030 0.000 0.033 3457 3303 2014 2122 1906 0 0 0 0 0 0 28.83 26.25 28.83

4830 1.11 175.2 3456 3304 2121 1903 433.7 22.6 239 4837 0.00 2.08 0.00 0.000 516 0.000 0.024 3466 1893 2013 2122 1904 0 0 0 0 0 0 28.83 26.41 28.83

4860 1.11 175.2 2560 1891 2043 1890 428.2 22.2 240 4866 0.00 2.12 0.00 0.000 1030 0.000 0.033 3466 3310 2013 2123 1903 0 0 0 0 0 0 28.83 26.39 28.83

5180 1.11 175.2 3465 3310 2115 1903 354.1 23.2 256 5185 0.00 0.68 0.00 0.000 260 0.000 0.047 3466 3767 2009 2115 1903 0 0 0 0 0 0 28.83 26.46 28.83

5285 1.11 175.2 3466 3767 2115 1902 327.2 26.0 261 5290 0.00 0.68 0.00 0.000 1030 0.000 0.030 3470 3289 2008 2115 1902 0 0 0 0 0 0 28.83 26.53 28.83

5610 1.11 175.2 3469 3289 2115 1901 248.6 25.2 277 5615 0.00 2.00 0.00 0.000 516 0.000 0.024 3479 1897 2008 2115 1901 0 0 0 0 0 0 28.83 26.56 28.83

5766 1.11 175.2 3479 1897 2115 1900 213.8 24.0 284 5773 0.15 2.10 0.00 0.000 5126 0.186 0.032 3444 3311 2007 2115 1900 0 0 0 0 0 0 26.39 26.55 28.83

6082 1.11 175.2 3443 3311 2115 1897 149.4 17.0 300 6088 0.00 2.05 0.00 0.000 516 0.000 0.023 3452 1893 2007 2116 1898 0 0 0 0 0 0 28.83 26.61 28.83

6176 1.11 175.2 3452 1893 2115 1898 134.9 17.1 304 6181 0.00 2.10 0.00 0.000 1030 0.000 0.032 3452 3309 2006 2114 1898 0 0 0 0 0 0 28.83 26.59 28.83

6491 1.11 175.2 3452 3309 2115 1896 77.4 15.3 320 6497 0.00 2.05 0.00 0.000 516 0.000 0.021 3462 1885 2005 2115 1896 0 0 0 0 0 0 28.83 26.64 28.83

6729 1.11 175.2 3462 1884 2115 1896 51.2 13.8 331 6734 0.00 2.10 0.00 0.000 1030 0.000 0.032 3462 3305 2005 2115 1895 0 0 0 0 0 0 28.83 26.63 28.83

7054 1.70 372.4 3461 3305 2115 1895 50.0 2.3 356 7140 0.43 0.65 77.55 0.230 10500 0.048 0.038 3648 3759 1241 1300 1182 0 0 0 0 0 0 26.65 26.29 26.08

7265 end climb: SURFACE_DEPTH_REACHED

state 7266 begin surface coast

7271 end surface coast: CONTROL_FINISHED_OK

state 7271 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	75	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	64	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	550	R_STBD_OVSHOOT	42	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	1	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	350	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	370	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	-974964.69	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	2	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	290613,032853,2144.457,12028.673,39,2.0,39,-3.1	TGT_NAME	T4
_CALLS	1	TGT_LATLONG	2100.000,12030.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_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	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290613,033615,2144.408,12028.562,10,1.4,10,-3.1	MHEAD_RNG_PITCHd_Wd	170.3,82281,-15.7,-9.429,-18.82,2841
SPEED_LIMITS	0.163,0.277	D_GRID	662

FINISH	0.9,1.020616	_10V_AH	10.3,5.853
SM_CCo	7296,84.53,0.128,0,0,519,550.21	FG_AHR_24Vo	0.000
SM_GC	1.62,9.00,2.78,84.53,0.036,0.021,0.128,141,1926,519,-9.14,2.04,550.21,0,0,0,0,0,0,26.36,26.40,26.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2136.49,12029.58,290613,000023	MEM	324164
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	13472,383
HUMID	53.50	CAP_FILE_SIZE	97292,0
INTERNAL_PRESSURE	9.47302	CFSIZE	260034560,244625408
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.082,264.3,1
SC_FREEKB	7687392	GPS	290613,054106,2143.541,12028.197,36,1.2,36,-3.1
_24V_AH	24.2,8.204

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	237	127.82	nil	0	0	0.00
Roll_motor	61	47	70.45	nil	0	0	0.00
VBD_pump_during_apogee	364	978	8639.56	nil	0	0	0.00
VBD_pump_during_surface	84	127	261.32	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	7273	8	1431.81
Iridium_during_xfer	264	113	730.09	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.73
TT8	1392	13	200.18
LPSleep	4167	2	94.00
TT8_Active	519	13	74.74
TT8_Sampling	1425	40	589.83
TT8_CF8	320	47	157.53
TT8_Kalman	0	0	0.00
Analog_circuits	1435	16	236.58
GPS_charging	0	0	0.00
Compass	1150	5	59.24
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	22	begin dive
25	-1.11	-175.2	123	1880	456	584	0.0	0.0	0	129	0.00	0.00	-101.05	0.000	16386	0.000	0.000	122	1880	3017	2995	3040	0	0	0	0	0	0	28.83	28.83	28.83
137	-1.11	-175.2	122	1880	2995	3041	3.5	-5.5	18	164	10.25	2.17	-7.97	0.000	18692	0.238	0.047	2710	3325	3480	3472	3488	0	0	0	0	0	0	25.94	26.20	26.44
394	-1.11	-175.2	2710	3326	3474	3490	96.6	-34.6	38	401	0.00	2.03	0.00	0.000	1030	0.000	0.016	2709	1884	3482	3474	3490	0	0	0	0	0	0	28.83	26.39	28.83
701	-1.11	-175.2	2709	1884	3477	3490	181.2	-24.5	54	706	0.00	2.08	0.00	0.000	260	0.000	0.025	2700	3323	3483	3477	3490	0	0	0	0	0	0	28.83	26.48	28.83
931	-1.11	-175.2	2699	3323	3477	3490	226.6	-20.1	65	937	0.00	2.00	0.00	0.000	1030	0.000	0.016	2699	1896	3484	3478	3490	0	0	0	0	0	0	28.83	26.57	28.83
1252	-1.11	-175.2	2699	1896	3478	3490	288.9	-18.8	81	1257	0.00	1.98	0.00	0.000	516	0.000	0.029	2700	522	3484	3478	3490	0	0	0	0	0	0	28.83	26.58	28.83
1301	-1.11	-175.2	2699	521	3478	3490	298.6	-20.5	83	1307	0.15	1.98	0.00	0.000	3078	0.181	0.017	2727	1930	3483	3477	3490	0	0	0	0	0	0	26.45	26.63	28.83
1621	-1.11	-175.2	2727	1930	3477	3486	362.4	-17.1	99	1627	0.00	2.05	0.00	0.000	516	0.000	0.029	2728	523	3482	3478	3486	0	0	0	0	0	0	28.83	26.63	28.83
1660	-1.11	-175.2	2727	523	3478	3486	366.7	-17.0	100	1668	0.00	1.95	0.00	0.000	1030	0.000	0.018	2720	1910	3481	3477	3485	0	0	0	0	0	0	28.83	26.65	28.83
1966	-1.11	-175.2	2720	1910	3477	3480	417.9	-16.2	116	1972	0.00	2.00	0.00	0.000	260	0.000	0.031	2710	3294	3478	3476	3480	0	0	0	0	0	0	28.83	26.65	28.83
2194	-1.11	-175.2	2708	3296	3480	3475	456.8	-16.5	127	2200	0.00	1.98	0.00	0.000	1030	0.000	0.018	2708	1900	3477	3480	3474	0	0	0	0	0	0	28.83	26.69	28.83
2519	-1.11	-175.2	2709	1900	3479	3469	512.3	-17.1	143	2525	0.00	2.00	0.00	0.000	516	0.000	0.032	2708	519	3474	3480	3468	0	0	0	0	0	0	28.83	26.67	28.83
2574	-1.11	-175.2	2708	519	3480	3468	520.2	-17.6	145	2579	0.00	1.95	0.00	0.000	1030	0.000	0.018	2700	1902	3472	3478	3467	0	0	0	0	0	0	28.83	26.70	28.83
2888	-1.11	-175.2	2700	1902	3480	3462	573.5	-16.1	161	2893	0.00	2.03	0.00	0.000	516	0.000	0.030	2700	515	3470	3479	3462	0	0	0	0	0	0	28.83	26.68	28.83
2953	-1.11	-175.2	2700	515	3479	3461	583.4	-15.3	164	2959	0.12	1.98	0.00	0.000	3078	0.187	0.020	2727	1893	3470	3480	3460	0	0	0	0	0	0	26.55	26.70	28.83
3279	-1.11	-175.2	2726	1893	3480	3455	622.1	-11.9	177	3284	0.00	2.05	0.00	0.000	260	0.000	0.032	2718	3300	3467	3480	3455	0	0	0	0	0	0	28.83	26.69	28.83
3392	-1.11	-175.2	2718	3300	3479	3453	633.8	-12.3	180	3398	0.00	1.98	0.00	0.000	1030	0.000	0.018	2718	1895	3465	3479	3452	0	0	0	0	0	0	28.83	26.72	28.83
3585	end dive: TARGET_DEPTH_EXCEEDED
state	3585	begin apogee
3595	-0.19	0.0	2710	3290	3480	3449	664.5	-14.8	187	3747	0.95	0.00	141.32	0.978	10246	0.145	0.000	3015	3289	2753	2819	2687	0	0	0	0	0	0	26.55	28.83	24.34
3750	end apogee: CONTROL_FINISHED_OK
state	3750	begin climb
3753	1.11	175.2	3015	3289	2816	2678	670.4	0.0	192	3909	1.15	0.77	146.00	0.945	10500	0.047	0.045	3443	3764	2043	2137	1950	0	0	0	0	0	0	25.19	24.83	24.20
3958	1.11	175.2	3443	3764	2123	1919	639.3	20.6	199	3964	0.00	0.65	0.00	0.000	1030	0.000	0.031	3447	3321	2021	2123	1919	0	0	0	0	0	0	28.83	25.41	28.83
4279	1.11	175.2	3446	3321	2122	1909	558.3	24.9	212	4284	0.00	2.12	0.00	0.000	516	0.000	0.025	3457	1882	2016	2123	1909	0	0	0	0	0	0	28.83	26.10	28.83
4516	1.11	175.2	3456	1881	2122	1906	507.7	22.2	223	4521	0.00	2.15	0.00	0.000	1030	0.000	0.033	3457	3303	2014	2122	1906	0	0	0	0	0	0	28.83	26.25	28.83
4830	1.11	175.2	3456	3304	2121	1903	433.7	22.6	239	4837	0.00	2.08	0.00	0.000	516	0.000	0.024	3466	1893	2013	2122	1904	0	0	0	0	0	0	28.83	26.41	28.83
4860	1.11	175.2	2560	1891	2043	1890	428.2	22.2	240	4866	0.00	2.12	0.00	0.000	1030	0.000	0.033	3466	3310	2013	2123	1903	0	0	0	0	0	0	28.83	26.39	28.83
5180	1.11	175.2	3465	3310	2115	1903	354.1	23.2	256	5185	0.00	0.68	0.00	0.000	260	0.000	0.047	3466	3767	2009	2115	1903	0	0	0	0	0	0	28.83	26.46	28.83
5285	1.11	175.2	3466	3767	2115	1902	327.2	26.0	261	5290	0.00	0.68	0.00	0.000	1030	0.000	0.030	3470	3289	2008	2115	1902	0	0	0	0	0	0	28.83	26.53	28.83
5610	1.11	175.2	3469	3289	2115	1901	248.6	25.2	277	5615	0.00	2.00	0.00	0.000	516	0.000	0.024	3479	1897	2008	2115	1901	0	0	0	0	0	0	28.83	26.56	28.83
5766	1.11	175.2	3479	1897	2115	1900	213.8	24.0	284	5773	0.15	2.10	0.00	0.000	5126	0.186	0.032	3444	3311	2007	2115	1900	0	0	0	0	0	0	26.39	26.55	28.83
6082	1.11	175.2	3443	3311	2115	1897	149.4	17.0	300	6088	0.00	2.05	0.00	0.000	516	0.000	0.023	3452	1893	2007	2116	1898	0	0	0	0	0	0	28.83	26.61	28.83
6176	1.11	175.2	3452	1893	2115	1898	134.9	17.1	304	6181	0.00	2.10	0.00	0.000	1030	0.000	0.032	3452	3309	2006	2114	1898	0	0	0	0	0	0	28.83	26.59	28.83
6491	1.11	175.2	3452	3309	2115	1896	77.4	15.3	320	6497	0.00	2.05	0.00	0.000	516	0.000	0.021	3462	1885	2005	2115	1896	0	0	0	0	0	0	28.83	26.64	28.83
6729	1.11	175.2	3462	1884	2115	1896	51.2	13.8	331	6734	0.00	2.10	0.00	0.000	1030	0.000	0.032	3462	3305	2005	2115	1895	0	0	0	0	0	0	28.83	26.63	28.83
7054	1.70	372.4	3461	3305	2115	1895	50.0	2.3	356	7140	0.43	0.65	77.55	0.230	10500	0.048	0.038	3648	3759	1241	1300	1182	0	0	0	0	0	0	26.65	26.29	26.08
7265	end climb: SURFACE_DEPTH_REACHED
state	7266	begin surface coast
7271	end surface coast: CONTROL_FINISHED_OK
state	7271	begin surface