Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 78 * 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 78 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 58 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 550 R_STBD_OVSHOOT 40 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 -974968.44 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 -974968.44

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 58 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 40 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 78 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 290613,095636,2142.328,12029.099,36,1.0,36,-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 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290613,100321,2142.245,12029.326,6,1.1,6,-3.1 MHEAD_RNG_PITCHd_Wd 227.2,78246,-15.7,-9.429,-18.82,2841

SPEED_LIMITS 0.163,0.277 D_GRID 662

Post-dive calculations and measurements:

FINISH 0.9,1.020572 _10V_AH 10.4,6.012

SM_CCo 7221,98.62,0.130,0,0,517,550.21 FG_AHR_24Vo 0.000

SM_GC 1.69,8.85,2.10,98.62,0.032,0.021,0.130,135,1912,517,-9.15,2.01,550.21,0,0,0,0,0,0,26.43,26.46,26.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2134.17,12029.58,290613,070752 MEM 324184

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 13437,377

HUMID 55.59 CAP_FILE_SIZE 94152,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260034560,244457472

TCM_TEMP 24.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 1 CURRENT 0.243,102.8,1

SC_FREEKB 7686240 GPS 290613,120705,2141.481,12029.675,31,0.9,31,-3.1

_24V_AH 24.2,8.504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 126.35 nil 0 0 0.00

Roll_motor 57 47 65.63 nil 0 0 0.00

VBD_pump_during_apogee 363 947 8333.96 nil 0 0 0.00

VBD_pump_during_surface 98 130 310.39 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 7208 7 1368.26

Iridium_during_xfer 236 113 647.79 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 50 4.11

TT8 1270 13 184.45

LPSleep 4340 2 98.85

TT8_Active 530 13 76.95

TT8_Sampling 1267 40 529.62

TT8_CF8 321 47 159.58

TT8_Kalman 0 0 0.00

Analog_circuits 1370 16 228.10

GPS_charging 0 0 0.00

Compass 1011 5 52.60

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 -1.11 -175.2 140 1910 446 591 0.0 0.0 0 125 0.00 0.00 -96.68 0.000 16386 0.000 0.000 141 1910 2880 2857 2904 0 0 0 0 0 0 28.83 28.83 28.83

132 -1.11 -175.2 140 1910 2857 2905 3.1 -3.7 17 159 10.18 2.12 -11.23 0.000 18692 0.239 0.037 2710 3332 3481 3476 3486 0 0 0 0 0 0 25.99 26.26 26.49

336 -1.11 -175.2 2709 3332 3477 3488 71.1 -32.9 37 343 0.00 2.08 0.00 0.000 1030 0.000 0.020 2710 1887 3482 3477 3487 0 0 0 0 0 0 28.83 26.39 28.83

642 -1.11 -175.2 2710 1887 3480 3488 158.1 -25.6 53 648 0.00 2.08 0.00 0.000 260 0.000 0.024 2699 3331 3483 3480 3487 0 0 0 0 0 0 28.83 26.51 28.83

661 -1.11 -175.2 2699 3331 3480 3487 158.1 -25.6 53 668 0.00 2.03 0.00 0.000 1030 0.000 0.017 2699 1888 3484 3480 3488 0 0 0 0 0 0 28.83 26.53 28.83

967 -1.11 -175.2 2699 1889 3482 3488 231.0 -20.5 69 973 0.00 2.08 0.00 0.000 260 0.000 0.028 2689 3323 3484 3482 3487 0 0 0 0 0 0 28.83 26.57 28.83

1062 -1.11 -175.2 2689 3323 3483 3487 246.7 -18.5 73 1068 0.15 2.00 0.00 0.000 3078 0.180 0.016 2726 1880 3485 3483 3487 0 0 0 0 0 0 26.44 26.62 28.83

1378 -1.11 -175.2 2726 1880 3482 3487 302.5 -17.1 89 1383 0.00 1.95 0.00 0.000 516 0.000 0.031 2726 524 3484 3482 3487 0 0 0 0 0 0 28.83 26.62 28.83

1417 -1.11 -175.2 2726 524 3482 3487 306.9 -17.6 90 1424 0.00 1.98 0.00 0.000 1030 0.000 0.017 2719 1935 3484 3482 3486 0 0 0 0 0 0 28.83 26.65 28.83

1723 -1.11 -175.2 2719 1936 3482 3483 372.6 -20.8 106 1728 0.00 2.05 0.00 0.000 516 0.000 0.029 2719 526 3482 3482 3482 0 0 0 0 0 0 28.83 26.65 28.83

1748 -1.11 -175.2 2718 526 3482 3482 377.7 -20.5 107 1753 0.00 1.92 0.00 0.000 1030 0.000 0.016 2710 1904 3482 3482 3482 0 0 0 0 0 0 28.83 26.68 28.83

2073 -1.11 -175.2 2709 1904 3482 3477 435.5 -16.2 123 2079 0.00 2.00 0.00 0.000 260 0.000 0.030 2700 3293 3479 3482 3477 0 0 0 0 0 0 28.83 26.67 28.83

2172 -1.11 -175.2 2698 3293 3485 3474 450.3 -17.2 127 2180 0.10 1.95 0.00 0.000 3078 0.188 0.018 2722 1904 3479 3485 3473 0 0 0 0 0 0 26.54 26.70 28.83

2479 -1.11 -175.2 2721 1904 3484 3468 503.1 -15.0 143 2484 0.00 2.03 0.00 0.000 260 0.000 0.030 2714 3291 3476 3485 3468 0 0 0 0 0 0 28.83 26.68 28.83

2568 -1.11 -175.2 1664 3289 3466 3461 515.9 -15.0 147 2574 0.00 1.98 0.00 0.000 1030 0.000 0.018 2714 1893 3474 3484 3465 0 0 0 0 0 0 28.83 26.72 28.83

2888 -1.11 -175.2 2714 1893 3484 3460 561.5 -13.2 163 2894 0.00 2.00 0.00 0.000 516 0.000 0.031 2713 517 3472 3485 3459 0 0 0 0 0 0 28.83 26.69 28.83

2942 -1.11 -175.2 2714 517 3485 3459 568.2 -14.2 165 2949 0.00 1.95 0.00 0.000 1030 0.000 0.018 2706 1897 3471 3485 3458 0 0 0 0 0 0 28.83 26.72 28.83

3278 -1.11 -175.2 2706 1897 3484 3453 617.3 -14.2 180 3284 0.00 2.03 0.00 0.000 260 0.000 0.031 2696 3287 3468 3485 3452 0 0 0 0 0 0 28.83 26.70 28.83

3363 -1.11 -175.2 2696 3287 3484 3451 626.8 -14.6 182 3369 0.12 1.98 0.00 0.000 3078 0.178 0.018 2726 1884 3468 3485 3451 0 0 0 0 0 0 26.56 26.73 28.83

3615 end dive: TARGET_DEPTH_EXCEEDED

state 3616 begin apogee

3628 -0.19 0.0 2723 3276 3484 3447 663.1 -13.6 191 3794 0.93 0.00 154.15 0.946 10246 0.142 0.000 3020 3276 2752 2820 2684 0 0 0 0 0 0 26.56 28.83 24.36

3797 end apogee: CONTROL_FINISHED_OK

state 3797 begin climb

3800 1.11 175.2 3020 3276 2819 2676 669.2 0.0 196 3957 1.12 0.73 145.27 0.947 10500 0.041 0.041 3447 3767 2038 2132 1945 0 0 0 0 0 0 25.23 24.87 24.23

4063 1.11 175.2 3447 3767 2122 1919 628.1 24.0 205 4068 0.00 0.65 0.00 0.000 1030 0.000 0.031 3450 3323 2020 2123 1918 0 0 0 0 0 0 28.83 25.70 28.83

4373 1.11 175.2 3450 3322 2123 1911 550.9 23.1 219 4378 0.00 2.12 0.00 0.000 516 0.000 0.025 3460 1878 2017 2123 1911 0 0 0 0 0 0 28.83 26.17 28.83

4540 1.11 175.2 3460 1878 2123 1909 513.8 22.0 227 4545 0.00 2.17 0.00 0.000 1030 0.000 0.033 3460 3305 2015 2122 1909 0 0 0 0 0 0 28.83 26.27 28.83

4865 1.11 175.2 3460 3304 2121 1906 441.0 23.1 243 4866 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 3305 2014 2123 1906 0 0 0 0 0 0 28.83 28.83 28.83

5168 1.11 175.2 3460 3305 2123 1903 370.5 22.4 258 5169 0.00 0.00 0.00 0.000 6 0.000 0.000 3460 3305 2013 2123 1903 0 0 0 0 0 0 28.83 28.83 28.83

5467 1.11 175.2 3460 3304 2115 1903 302.3 22.4 273 5472 0.00 2.08 0.00 0.000 516 0.000 0.024 3469 1882 2009 2115 1903 0 0 0 0 0 0 28.83 26.55 28.83

5658 1.11 175.2 2560 1880 2040 1890 262.3 20.9 282 5664 0.00 2.12 0.00 0.000 1030 0.000 0.033 3470 3308 2009 2115 1903 0 0 0 0 0 0 28.83 26.55 28.83

5978 1.11 175.2 3469 3308 2115 1901 197.6 19.8 298 5983 0.00 0.68 0.00 0.000 260 0.000 0.047 3470 3767 2008 2115 1902 0 0 0 0 0 0 28.83 26.58 28.83

6139 1.11 175.2 3469 3767 2115 1901 167.2 21.6 305 6146 0.10 0.65 0.00 0.000 5126 0.191 0.030 3445 3290 2008 2115 1901 0 0 0 0 0 0 26.43 26.65 28.83

6445 1.11 175.2 3445 3290 2115 1899 106.7 17.9 321 6450 0.00 0.73 0.00 0.000 260 0.000 0.046 3445 3770 2007 2115 1900 0 0 0 0 0 0 28.83 26.61 28.83

6562 1.11 175.2 3445 3770 2115 1899 91.6 13.0 326 6567 0.00 0.65 0.00 0.000 1030 0.000 0.031 3447 3295 2007 2115 1899 0 0 0 0 0 0 28.83 26.67 28.83

6876 1.33 250.3 3447 3295 2115 1898 67.4 6.7 342 6910 0.15 2.08 27.80 0.264 10756 0.075 0.021 3532 1884 1739 1835 1644 0 0 0 0 0 0 26.67 26.52 26.21

6929 1.60 338.1 3532 1884 1836 1656 64.4 6.3 344 6973 0.17 2.12 36.40 0.269 11270 0.067 0.031 3610 3315 1381 1454 1308 0 0 0 0 0 0 26.52 26.50 26.05

7185 end climb: SURFACE_DEPTH_REACHED

state 7186 begin surface coast

7197 end surface coast: CONTROL_FINISHED_OK

state 7197 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	78	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	58	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	550	R_STBD_OVSHOOT	40	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	-974968.44	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	290613,095636,2142.328,12029.099,36,1.0,36,-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	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290613,100321,2142.245,12029.326,6,1.1,6,-3.1	MHEAD_RNG_PITCHd_Wd	227.2,78246,-15.7,-9.429,-18.82,2841
SPEED_LIMITS	0.163,0.277	D_GRID	662

FINISH	0.9,1.020572	_10V_AH	10.4,6.012
SM_CCo	7221,98.62,0.130,0,0,517,550.21	FG_AHR_24Vo	0.000
SM_GC	1.69,8.85,2.10,98.62,0.032,0.021,0.130,135,1912,517,-9.15,2.01,550.21,0,0,0,0,0,0,26.43,26.46,26.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2134.17,12029.58,290613,070752	MEM	324184
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	13437,377
HUMID	55.59	CAP_FILE_SIZE	94152,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260034560,244457472
TCM_TEMP	24.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	1	CURRENT	0.243,102.8,1
SC_FREEKB	7686240	GPS	290613,120705,2141.481,12029.675,31,0.9,31,-3.1
_24V_AH	24.2,8.504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	126.35	nil	0	0	0.00
Roll_motor	57	47	65.63	nil	0	0	0.00
VBD_pump_during_apogee	363	947	8333.96	nil	0	0	0.00
VBD_pump_during_surface	98	130	310.39	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	7208	7	1368.26
Iridium_during_xfer	236	113	647.79	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	50	4.11
TT8	1270	13	184.45
LPSleep	4340	2	98.85
TT8_Active	530	13	76.95
TT8_Sampling	1267	40	529.62
TT8_CF8	321	47	159.58
TT8_Kalman	0	0	0.00
Analog_circuits	1370	16	228.10
GPS_charging	0	0	0.00
Compass	1011	5	52.60
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	-1.11	-175.2	140	1910	446	591	0.0	0.0	0	125	0.00	0.00	-96.68	0.000	16386	0.000	0.000	141	1910	2880	2857	2904	0	0	0	0	0	0	28.83	28.83	28.83
132	-1.11	-175.2	140	1910	2857	2905	3.1	-3.7	17	159	10.18	2.12	-11.23	0.000	18692	0.239	0.037	2710	3332	3481	3476	3486	0	0	0	0	0	0	25.99	26.26	26.49
336	-1.11	-175.2	2709	3332	3477	3488	71.1	-32.9	37	343	0.00	2.08	0.00	0.000	1030	0.000	0.020	2710	1887	3482	3477	3487	0	0	0	0	0	0	28.83	26.39	28.83
642	-1.11	-175.2	2710	1887	3480	3488	158.1	-25.6	53	648	0.00	2.08	0.00	0.000	260	0.000	0.024	2699	3331	3483	3480	3487	0	0	0	0	0	0	28.83	26.51	28.83
661	-1.11	-175.2	2699	3331	3480	3487	158.1	-25.6	53	668	0.00	2.03	0.00	0.000	1030	0.000	0.017	2699	1888	3484	3480	3488	0	0	0	0	0	0	28.83	26.53	28.83
967	-1.11	-175.2	2699	1889	3482	3488	231.0	-20.5	69	973	0.00	2.08	0.00	0.000	260	0.000	0.028	2689	3323	3484	3482	3487	0	0	0	0	0	0	28.83	26.57	28.83
1062	-1.11	-175.2	2689	3323	3483	3487	246.7	-18.5	73	1068	0.15	2.00	0.00	0.000	3078	0.180	0.016	2726	1880	3485	3483	3487	0	0	0	0	0	0	26.44	26.62	28.83
1378	-1.11	-175.2	2726	1880	3482	3487	302.5	-17.1	89	1383	0.00	1.95	0.00	0.000	516	0.000	0.031	2726	524	3484	3482	3487	0	0	0	0	0	0	28.83	26.62	28.83
1417	-1.11	-175.2	2726	524	3482	3487	306.9	-17.6	90	1424	0.00	1.98	0.00	0.000	1030	0.000	0.017	2719	1935	3484	3482	3486	0	0	0	0	0	0	28.83	26.65	28.83
1723	-1.11	-175.2	2719	1936	3482	3483	372.6	-20.8	106	1728	0.00	2.05	0.00	0.000	516	0.000	0.029	2719	526	3482	3482	3482	0	0	0	0	0	0	28.83	26.65	28.83
1748	-1.11	-175.2	2718	526	3482	3482	377.7	-20.5	107	1753	0.00	1.92	0.00	0.000	1030	0.000	0.016	2710	1904	3482	3482	3482	0	0	0	0	0	0	28.83	26.68	28.83
2073	-1.11	-175.2	2709	1904	3482	3477	435.5	-16.2	123	2079	0.00	2.00	0.00	0.000	260	0.000	0.030	2700	3293	3479	3482	3477	0	0	0	0	0	0	28.83	26.67	28.83
2172	-1.11	-175.2	2698	3293	3485	3474	450.3	-17.2	127	2180	0.10	1.95	0.00	0.000	3078	0.188	0.018	2722	1904	3479	3485	3473	0	0	0	0	0	0	26.54	26.70	28.83
2479	-1.11	-175.2	2721	1904	3484	3468	503.1	-15.0	143	2484	0.00	2.03	0.00	0.000	260	0.000	0.030	2714	3291	3476	3485	3468	0	0	0	0	0	0	28.83	26.68	28.83
2568	-1.11	-175.2	1664	3289	3466	3461	515.9	-15.0	147	2574	0.00	1.98	0.00	0.000	1030	0.000	0.018	2714	1893	3474	3484	3465	0	0	0	0	0	0	28.83	26.72	28.83
2888	-1.11	-175.2	2714	1893	3484	3460	561.5	-13.2	163	2894	0.00	2.00	0.00	0.000	516	0.000	0.031	2713	517	3472	3485	3459	0	0	0	0	0	0	28.83	26.69	28.83
2942	-1.11	-175.2	2714	517	3485	3459	568.2	-14.2	165	2949	0.00	1.95	0.00	0.000	1030	0.000	0.018	2706	1897	3471	3485	3458	0	0	0	0	0	0	28.83	26.72	28.83
3278	-1.11	-175.2	2706	1897	3484	3453	617.3	-14.2	180	3284	0.00	2.03	0.00	0.000	260	0.000	0.031	2696	3287	3468	3485	3452	0	0	0	0	0	0	28.83	26.70	28.83
3363	-1.11	-175.2	2696	3287	3484	3451	626.8	-14.6	182	3369	0.12	1.98	0.00	0.000	3078	0.178	0.018	2726	1884	3468	3485	3451	0	0	0	0	0	0	26.56	26.73	28.83
3615	end dive: TARGET_DEPTH_EXCEEDED
state	3616	begin apogee
3628	-0.19	0.0	2723	3276	3484	3447	663.1	-13.6	191	3794	0.93	0.00	154.15	0.946	10246	0.142	0.000	3020	3276	2752	2820	2684	0	0	0	0	0	0	26.56	28.83	24.36
3797	end apogee: CONTROL_FINISHED_OK
state	3797	begin climb
3800	1.11	175.2	3020	3276	2819	2676	669.2	0.0	196	3957	1.12	0.73	145.27	0.947	10500	0.041	0.041	3447	3767	2038	2132	1945	0	0	0	0	0	0	25.23	24.87	24.23
4063	1.11	175.2	3447	3767	2122	1919	628.1	24.0	205	4068	0.00	0.65	0.00	0.000	1030	0.000	0.031	3450	3323	2020	2123	1918	0	0	0	0	0	0	28.83	25.70	28.83
4373	1.11	175.2	3450	3322	2123	1911	550.9	23.1	219	4378	0.00	2.12	0.00	0.000	516	0.000	0.025	3460	1878	2017	2123	1911	0	0	0	0	0	0	28.83	26.17	28.83
4540	1.11	175.2	3460	1878	2123	1909	513.8	22.0	227	4545	0.00	2.17	0.00	0.000	1030	0.000	0.033	3460	3305	2015	2122	1909	0	0	0	0	0	0	28.83	26.27	28.83
4865	1.11	175.2	3460	3304	2121	1906	441.0	23.1	243	4866	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	3305	2014	2123	1906	0	0	0	0	0	0	28.83	28.83	28.83
5168	1.11	175.2	3460	3305	2123	1903	370.5	22.4	258	5169	0.00	0.00	0.00	0.000	6	0.000	0.000	3460	3305	2013	2123	1903	0	0	0	0	0	0	28.83	28.83	28.83
5467	1.11	175.2	3460	3304	2115	1903	302.3	22.4	273	5472	0.00	2.08	0.00	0.000	516	0.000	0.024	3469	1882	2009	2115	1903	0	0	0	0	0	0	28.83	26.55	28.83
5658	1.11	175.2	2560	1880	2040	1890	262.3	20.9	282	5664	0.00	2.12	0.00	0.000	1030	0.000	0.033	3470	3308	2009	2115	1903	0	0	0	0	0	0	28.83	26.55	28.83
5978	1.11	175.2	3469	3308	2115	1901	197.6	19.8	298	5983	0.00	0.68	0.00	0.000	260	0.000	0.047	3470	3767	2008	2115	1902	0	0	0	0	0	0	28.83	26.58	28.83
6139	1.11	175.2	3469	3767	2115	1901	167.2	21.6	305	6146	0.10	0.65	0.00	0.000	5126	0.191	0.030	3445	3290	2008	2115	1901	0	0	0	0	0	0	26.43	26.65	28.83
6445	1.11	175.2	3445	3290	2115	1899	106.7	17.9	321	6450	0.00	0.73	0.00	0.000	260	0.000	0.046	3445	3770	2007	2115	1900	0	0	0	0	0	0	28.83	26.61	28.83
6562	1.11	175.2	3445	3770	2115	1899	91.6	13.0	326	6567	0.00	0.65	0.00	0.000	1030	0.000	0.031	3447	3295	2007	2115	1899	0	0	0	0	0	0	28.83	26.67	28.83
6876	1.33	250.3	3447	3295	2115	1898	67.4	6.7	342	6910	0.15	2.08	27.80	0.264	10756	0.075	0.021	3532	1884	1739	1835	1644	0	0	0	0	0	0	26.67	26.52	26.21
6929	1.60	338.1	3532	1884	1836	1656	64.4	6.3	344	6973	0.17	2.12	36.40	0.269	11270	0.067	0.031	3610	3315	1381	1454	1308	0	0	0	0	0	0	26.52	26.50	26.05
7185	end climb: SURFACE_DEPTH_REACHED
state	7186	begin surface coast
7197	end surface coast: CONTROL_FINISHED_OK
state	7197	begin surface