Glider dive log

OKMC Mar13 * SG169 * Dive index * Mission links * Dive 819 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HEADING 230 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 819 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2575 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 7

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 592.89008 R_STBD_OVSHOOT -10 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 200 XPDR_INHIBIT 90

D_BOOST 130 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 4 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 435 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2852 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 320 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

T_MISSION 350 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -23620.088 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -8 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE 150

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 146 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3945 MINV_10V 9.8000002 SIM_PITCH 0

MAX_BUOY 270 C_PITCH 2365 FG_AHR_10V 0 SEABIRD_T_G 0.0042608725

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061783189

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.1692709e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -154.03682 SEABIRD_T_J 2.1724361e-06

RHO 1.0275 PITCH_GAIN 40 PRESSURE_SLOPE 0.0001078585 SEABIRD_C_G -10.034778

MASS 52063 PITCH_TIMEOUT 16 AD7714Ch0Gain 1 SEABIRD_C_H 1.1503564

NAV_MODE 0 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019294197

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002327933

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.00091300003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0119 ROLL_MIN 220 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 2.0500001e-07 ROLL_MAX 3795 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 165 SM_CC 592.89008

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 40 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3945 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FG_AHR_10V 0 PITCH_MIN 146 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.003 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001078585 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.00091300003 PRESSURE_YINT -154.03682 T_BOOST 4

CALL_TRIES 5 HD_B 0.0119 PROTOCOL 9 T_DIVE 320

CALL_WAIT 60 HD_C 2.0500001e-07 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING 230 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -23620.088

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE 150 ID 169 RELAUNCH 1 T_MISSION 350

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -1.1 ROLL_ADJ_DBAND 0 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2365 LOGGERDEVICE1 53 ROLL_AD_RATE 200 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2575 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2852 LOGGERDEVICE4 -1 ROLL_MAX 3795 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_BATHY -8

DEEPGLIDER 0 MASS 52063 ROLL_MIN 220 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 270 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.8000002 R_PORT_OVSHOOT -10 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT -10 VBD_DBAND 2

DEVICE3 -1 MISSION 8 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 435

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.034778 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 819 N_DIVES 0 SEABIRD_C_H 1.1503564 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 1020 N_FILEKB 4 SEABIRD_C_I -0.0019294197 VBD_TIMEOUT 720

D_BOOST 130 N_GPS 20 SEABIRD_C_J 0.0002327933 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0042608725 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00061783189 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.1692709e-05 XPDR_VALID 4

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.1724361e-06

Pre-dive calculations and measurements:

GPS1 040913,051036,2212.461,12216.610,31,0.9,31,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2205.686,12207.759

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040913,051625,2212.627,12216.688,18,1.3,18,-2.9 MHEAD_RNG_PITCHd_Wd 232.9,20000,-3.1,-10.312,-17.92,3914

SPEED_LIMITS 0.179,0.319 D_GRID 4820

Post-dive calculations and measurements:

SM_CCo 6014,589.17,0.926,0,0,434,592.89 FG_AHR_24Vo 0.000

SM_GC 0.14,6.45,0.17,0.00,0.025,0.065,0.000,141,2609,392,-6.90,-0.25,603.44,0,0,0,0,0,0,25.31,26.28,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2202.04,12218.82,040913,010130 MEM 323572

TT8_MAMPS 0.02247,0.02247 DATA_FILE_SIZE 10187,250

HUMID 56.89 CAP_FILE_SIZE 83971,0

INTERNAL_PRESSURE 9.40822 CFSIZE 260034560,127193088

TCM_TEMP 16.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 EOP_CODE ABORT_DEPTH_EXCEEDED

_24V_AH 23.7,114.665 RECOV_CODE EXCEEDED_ABORT_DEPTH

_10V_AH 10.1,81.653 GPS 040913,091129,2214.325,12217.183,39,1.2,44,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 232 91.63 nil 0 0 0.00

Roll_motor 63 65 97.20 nil 0 0 0.00

VBD_pump_during_apogee 239 961 5454.23 nil 0 0 0.00

VBD_pump_during_surface 589 925 12925.27 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 0 0 0.00

Iridium_during_xfer 197 110 515.04 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 32 7.11

TT8 547 14 78.63

LPSleep 11597 2 256.52

TT8_Active 860 14 123.49

TT8_Sampling 966 40 394.82

TT8_CF8 353 47 170.91

TT8_Kalman 0 0 0.00

Analog_circuits 1712 12 207.51

GPS_charging 0 0 0.00

Compass 762 8 63.47

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

22 -0.87 -262.8 121 2569 632 238 0.0 0.0 0 110 0.00 0.00 -85.60 0.000 16386 0.000 0.000 121 2570 2642 2637 2647 0 0 0 0 0 0 28.83 28.83 28.83

116 -0.87 -262.8 121 2570 2637 2648 3.9 -7.9 9 153 8.38 2.20 -22.42 0.000 19204 0.233 0.055 2069 3828 3923 3890 3957 0 0 0 0 0 0 24.72 25.57 26.49

269 -0.87 -262.8 2069 3828 3898 3949 59.0 -32.9 24 275 0.00 2.15 0.00 0.000 1030 0.000 0.026 2069 2515 3923 3898 3949 0 0 0 0 0 0 28.83 25.92 28.83

584 -0.87 -262.8 2069 2512 3901 3946 143.6 -21.9 47 590 0.00 2.33 0.00 0.000 260 0.000 0.045 2059 3833 3923 3901 3946 0 0 0 0 0 0 28.83 25.39 28.83

621 -0.87 -262.8 2059 3833 3900 3947 148.3 -22.1 48 627 0.00 2.12 0.00 0.000 1030 0.000 0.024 2059 2510 3923 3901 3946 0 0 0 0 0 0 28.83 26.01 28.83

946 -0.87 -262.8 2059 2510 3903 3946 223.6 -22.3 65 951 0.00 2.30 0.00 0.000 260 0.000 0.044 2048 3826 3923 3902 3945 0 0 0 0 0 0 28.83 25.46 28.83

1077 -0.87 -262.8 2048 3825 3903 3945 250.5 -22.5 71 1083 0.10 2.08 0.00 0.000 3078 0.135 0.024 2082 2515 3924 3903 3945 0 0 0 0 0 0 25.56 26.04 28.83

1385 -0.87 -262.8 2081 2515 3904 3945 307.4 -16.4 87 1391 0.00 2.33 0.00 0.000 260 0.000 0.046 2076 3840 3924 3904 3945 0 0 0 0 0 0 28.83 25.41 28.83

1470 -0.87 -262.8 2075 3840 3903 3945 321.7 -18.0 91 1476 0.00 2.12 0.00 0.000 1030 0.000 0.023 2076 2509 3924 3904 3945 0 0 0 0 0 0 28.83 26.05 28.83

1787 -0.87 -262.8 2076 2509 3903 3944 374.4 -16.6 107 1793 0.00 2.30 0.00 0.000 260 0.000 0.044 2074 3826 3923 3903 3944 0 0 0 0 0 0 28.83 25.42 28.83

1826 -0.87 -262.8 2074 3825 3902 3943 381.1 -16.3 109 1832 0.00 2.10 0.00 0.000 1030 0.000 0.023 2074 2506 3922 3902 3943 0 0 0 0 0 0 28.83 26.06 28.83

2148 -0.87 -262.8 2074 2507 3900 3941 429.8 -14.8 122 2154 0.00 2.30 0.00 0.000 260 0.000 0.044 2074 3825 3920 3900 3941 0 0 0 0 0 0 28.83 25.44 28.83

2202 -0.87 -262.8 2074 3825 3900 3941 434.1 -14.4 123 2206 0.00 2.12 0.00 0.000 1030 0.000 0.023 2074 2506 3920 3899 3941 0 0 0 0 0 0 28.83 26.06 28.83

2507 -0.87 -262.8 2073 2506 3897 3940 484.4 -15.3 134 2513 0.00 2.33 0.00 0.000 260 0.000 0.045 2073 3830 3919 3897 3941 0 0 0 0 0 0 28.83 25.39 28.83

2670 -0.87 -262.8 2073 3830 3894 3940 507.5 -15.3 139 2676 0.00 2.12 0.00 0.000 1030 0.000 0.023 2074 2505 3917 3894 3940 0 0 0 0 0 0 28.83 26.03 28.83

2990 -0.87 -262.8 2073 2506 3889 3940 557.6 -15.4 150 2996 0.00 2.35 0.00 0.000 260 0.000 0.047 2073 3833 3914 3889 3939 0 0 0 0 0 0 28.83 25.33 28.83

3062 -0.87 -262.8 2073 3832 3888 3940 566.8 -15.4 152 3066 0.00 2.15 0.00 0.000 1030 0.000 0.023 2073 2502 3913 3888 3939 0 0 0 0 0 0 28.83 26.03 28.83

3384 -0.87 -262.8 2073 2501 3885 3936 613.3 -13.6 163 3391 0.00 2.38 0.00 0.000 260 0.000 0.050 2073 3832 3910 3884 3936 0 0 0 0 0 0 28.83 25.25 28.83

3512 -0.87 -262.8 2073 3832 3882 3936 630.5 -14.2 167 3517 0.00 2.10 0.00 0.000 1030 0.000 0.023 2073 2506 3908 3882 3935 0 0 0 0 0 0 28.83 26.01 28.83

3836 -0.87 -262.8 2073 2506 3882 3929 683.2 -16.6 178 3841 0.00 2.35 0.00 0.000 260 0.000 0.045 2073 3834 3906 3882 3930 0 0 0 0 0 0 28.83 25.30 28.83

3900 -0.87 -262.8 2073 3834 3881 3930 693.2 -16.5 180 3904 0.00 2.15 0.00 0.000 1030 0.000 0.024 2073 2513 3905 3881 3929 0 0 0 0 0 0 28.83 25.98 28.83

4230 -0.87 -262.8 2073 2509 3879 3925 746.5 -15.9 191 4235 0.00 2.35 0.00 0.000 260 0.000 0.046 2063 3837 3901 3878 3925 0 0 0 0 0 0 28.83 25.29 28.83

4273 -0.87 -262.8 2063 3836 3877 3925 751.5 -15.9 192 4279 0.00 2.17 0.00 0.000 1030 0.000 0.024 2064 2507 3901 3877 3925 0 0 0 0 0 0 28.83 25.96 28.83

4589 -0.87 -262.8 2063 2505 3875 3920 805.4 -16.5 203 4594 0.00 2.35 0.00 0.000 260 0.000 0.048 2060 3826 3897 3875 3920 0 0 0 0 0 0 28.83 25.20 28.83

4686 -0.87 -262.8 2060 3826 3873 3920 820.6 -16.9 206 4691 0.00 2.10 0.00 0.000 1030 0.000 0.025 2059 2521 3896 3873 3920 0 0 0 0 0 0 28.83 25.91 28.83

5009 -0.87 -262.8 2060 2519 3872 3917 876.6 -16.7 217 5015 0.00 2.33 0.00 0.000 260 0.000 0.050 2050 3826 3894 3872 3916 0 0 0 0 0 0 28.83 25.13 28.83

5071 -0.87 -262.8 2050 3826 3870 3916 886.8 -16.8 219 5077 0.12 2.17 0.00 0.000 3078 0.143 0.026 2083 2507 3893 3870 3917 0 0 0 0 0 0 25.49 25.88 28.83

5404 -0.87 -262.8 2084 2507 3870 3912 939.6 -16.2 230 5410 0.00 2.33 0.00 0.000 260 0.000 0.047 2074 3821 3891 3870 3912 0 0 0 0 0 0 28.83 25.15 28.83

5478 -0.87 -262.8 2074 3821 3869 3912 949.6 -16.5 232 5484 0.00 2.15 0.00 0.000 1030 0.000 0.026 2074 2511 3890 3869 3912 0 0 0 0 0 0 28.83 25.84 28.83

5729 end dive: TARGET_DEPTH_EXCEEDED

state 5729 begin apogee

5741 -0.12 0.0 2073 2607 3868 3908 994.7 -17.1 241 5982 0.73 0.12 234.23 0.962 10246 0.097 0.060 2318 2521 2851 2956 2747 0 0 0 0 0 0 24.82 24.87 23.74

5984 end apogee: CONTROL_FINISHED_OK

state 5984 begin climb

5990 0.87 262.8 2318 2521 2940 2729 1018.5 0.0 249 5999 0.85 0.00 5.10 0.740 10498 0.034 0.000 2664 2521 2815 2920 2711 0 0 0 0 0 0 25.18 28.83 28.83

6000 end climb: ABORT_DEPTH_EXCEEDED

ID	169	HEADING	230	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	819	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2575	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	7
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	592.89008	R_STBD_OVSHOOT	-10	XPDR_VALID	4
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	200	XPDR_INHIBIT	90
D_BOOST	130	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	4	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	435	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2852	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	320	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
T_MISSION	350	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-23620.088	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-8	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	150
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	146	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3945	MINV_10V	9.8000002	SIM_PITCH	0
MAX_BUOY	270	C_PITCH	2365	FG_AHR_10V	0	SEABIRD_T_G	0.0042608725
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061783189
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.1692709e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-154.03682	SEABIRD_T_J	2.1724361e-06
RHO	1.0275	PITCH_GAIN	40	PRESSURE_SLOPE	0.0001078585	SEABIRD_C_G	-10.034778
MASS	52063	PITCH_TIMEOUT	16	AD7714Ch0Gain	1	SEABIRD_C_H	1.1503564
NAV_MODE	0	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019294197
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002327933
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.00091300003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0119	ROLL_MIN	220	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	2.0500001e-07	ROLL_MAX	3795	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	040913,051036,2212.461,12216.610,31,0.9,31,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2205.686,12207.759
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040913,051625,2212.627,12216.688,18,1.3,18,-2.9	MHEAD_RNG_PITCHd_Wd	232.9,20000,-3.1,-10.312,-17.92,3914
SPEED_LIMITS	0.179,0.319	D_GRID	4820

SM_CCo	6014,589.17,0.926,0,0,434,592.89	FG_AHR_24Vo	0.000
SM_GC	0.14,6.45,0.17,0.00,0.025,0.065,0.000,141,2609,392,-6.90,-0.25,603.44,0,0,0,0,0,0,25.31,26.28,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2202.04,12218.82,040913,010130	MEM	323572
TT8_MAMPS	0.02247,0.02247	DATA_FILE_SIZE	10187,250
HUMID	56.89	CAP_FILE_SIZE	83971,0
INTERNAL_PRESSURE	9.40822	CFSIZE	260034560,127193088
TCM_TEMP	16.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	EOP_CODE	ABORT_DEPTH_EXCEEDED
_24V_AH	23.7,114.665	RECOV_CODE	EXCEEDED_ABORT_DEPTH
_10V_AH	10.1,81.653	GPS	040913,091129,2214.325,12217.183,39,1.2,44,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	232	91.63	nil	0	0	0.00
Roll_motor	63	65	97.20	nil	0	0	0.00
VBD_pump_during_apogee	239	961	5454.23	nil	0	0	0.00
VBD_pump_during_surface	589	925	12925.27	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	0	0	0.00
Iridium_during_xfer	197	110	515.04	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	32	7.11
TT8	547	14	78.63
LPSleep	11597	2	256.52
TT8_Active	860	14	123.49
TT8_Sampling	966	40	394.82
TT8_CF8	353	47	170.91
TT8_Kalman	0	0	0.00
Analog_circuits	1712	12	207.51
GPS_charging	0	0	0.00
Compass	762	8	63.47
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
22	-0.87	-262.8	121	2569	632	238	0.0	0.0	0	110	0.00	0.00	-85.60	0.000	16386	0.000	0.000	121	2570	2642	2637	2647	0	0	0	0	0	0	28.83	28.83	28.83
116	-0.87	-262.8	121	2570	2637	2648	3.9	-7.9	9	153	8.38	2.20	-22.42	0.000	19204	0.233	0.055	2069	3828	3923	3890	3957	0	0	0	0	0	0	24.72	25.57	26.49
269	-0.87	-262.8	2069	3828	3898	3949	59.0	-32.9	24	275	0.00	2.15	0.00	0.000	1030	0.000	0.026	2069	2515	3923	3898	3949	0	0	0	0	0	0	28.83	25.92	28.83
584	-0.87	-262.8	2069	2512	3901	3946	143.6	-21.9	47	590	0.00	2.33	0.00	0.000	260	0.000	0.045	2059	3833	3923	3901	3946	0	0	0	0	0	0	28.83	25.39	28.83
621	-0.87	-262.8	2059	3833	3900	3947	148.3	-22.1	48	627	0.00	2.12	0.00	0.000	1030	0.000	0.024	2059	2510	3923	3901	3946	0	0	0	0	0	0	28.83	26.01	28.83
946	-0.87	-262.8	2059	2510	3903	3946	223.6	-22.3	65	951	0.00	2.30	0.00	0.000	260	0.000	0.044	2048	3826	3923	3902	3945	0	0	0	0	0	0	28.83	25.46	28.83
1077	-0.87	-262.8	2048	3825	3903	3945	250.5	-22.5	71	1083	0.10	2.08	0.00	0.000	3078	0.135	0.024	2082	2515	3924	3903	3945	0	0	0	0	0	0	25.56	26.04	28.83
1385	-0.87	-262.8	2081	2515	3904	3945	307.4	-16.4	87	1391	0.00	2.33	0.00	0.000	260	0.000	0.046	2076	3840	3924	3904	3945	0	0	0	0	0	0	28.83	25.41	28.83
1470	-0.87	-262.8	2075	3840	3903	3945	321.7	-18.0	91	1476	0.00	2.12	0.00	0.000	1030	0.000	0.023	2076	2509	3924	3904	3945	0	0	0	0	0	0	28.83	26.05	28.83
1787	-0.87	-262.8	2076	2509	3903	3944	374.4	-16.6	107	1793	0.00	2.30	0.00	0.000	260	0.000	0.044	2074	3826	3923	3903	3944	0	0	0	0	0	0	28.83	25.42	28.83
1826	-0.87	-262.8	2074	3825	3902	3943	381.1	-16.3	109	1832	0.00	2.10	0.00	0.000	1030	0.000	0.023	2074	2506	3922	3902	3943	0	0	0	0	0	0	28.83	26.06	28.83
2148	-0.87	-262.8	2074	2507	3900	3941	429.8	-14.8	122	2154	0.00	2.30	0.00	0.000	260	0.000	0.044	2074	3825	3920	3900	3941	0	0	0	0	0	0	28.83	25.44	28.83
2202	-0.87	-262.8	2074	3825	3900	3941	434.1	-14.4	123	2206	0.00	2.12	0.00	0.000	1030	0.000	0.023	2074	2506	3920	3899	3941	0	0	0	0	0	0	28.83	26.06	28.83
2507	-0.87	-262.8	2073	2506	3897	3940	484.4	-15.3	134	2513	0.00	2.33	0.00	0.000	260	0.000	0.045	2073	3830	3919	3897	3941	0	0	0	0	0	0	28.83	25.39	28.83
2670	-0.87	-262.8	2073	3830	3894	3940	507.5	-15.3	139	2676	0.00	2.12	0.00	0.000	1030	0.000	0.023	2074	2505	3917	3894	3940	0	0	0	0	0	0	28.83	26.03	28.83
2990	-0.87	-262.8	2073	2506	3889	3940	557.6	-15.4	150	2996	0.00	2.35	0.00	0.000	260	0.000	0.047	2073	3833	3914	3889	3939	0	0	0	0	0	0	28.83	25.33	28.83
3062	-0.87	-262.8	2073	3832	3888	3940	566.8	-15.4	152	3066	0.00	2.15	0.00	0.000	1030	0.000	0.023	2073	2502	3913	3888	3939	0	0	0	0	0	0	28.83	26.03	28.83
3384	-0.87	-262.8	2073	2501	3885	3936	613.3	-13.6	163	3391	0.00	2.38	0.00	0.000	260	0.000	0.050	2073	3832	3910	3884	3936	0	0	0	0	0	0	28.83	25.25	28.83
3512	-0.87	-262.8	2073	3832	3882	3936	630.5	-14.2	167	3517	0.00	2.10	0.00	0.000	1030	0.000	0.023	2073	2506	3908	3882	3935	0	0	0	0	0	0	28.83	26.01	28.83
3836	-0.87	-262.8	2073	2506	3882	3929	683.2	-16.6	178	3841	0.00	2.35	0.00	0.000	260	0.000	0.045	2073	3834	3906	3882	3930	0	0	0	0	0	0	28.83	25.30	28.83
3900	-0.87	-262.8	2073	3834	3881	3930	693.2	-16.5	180	3904	0.00	2.15	0.00	0.000	1030	0.000	0.024	2073	2513	3905	3881	3929	0	0	0	0	0	0	28.83	25.98	28.83
4230	-0.87	-262.8	2073	2509	3879	3925	746.5	-15.9	191	4235	0.00	2.35	0.00	0.000	260	0.000	0.046	2063	3837	3901	3878	3925	0	0	0	0	0	0	28.83	25.29	28.83
4273	-0.87	-262.8	2063	3836	3877	3925	751.5	-15.9	192	4279	0.00	2.17	0.00	0.000	1030	0.000	0.024	2064	2507	3901	3877	3925	0	0	0	0	0	0	28.83	25.96	28.83
4589	-0.87	-262.8	2063	2505	3875	3920	805.4	-16.5	203	4594	0.00	2.35	0.00	0.000	260	0.000	0.048	2060	3826	3897	3875	3920	0	0	0	0	0	0	28.83	25.20	28.83
4686	-0.87	-262.8	2060	3826	3873	3920	820.6	-16.9	206	4691	0.00	2.10	0.00	0.000	1030	0.000	0.025	2059	2521	3896	3873	3920	0	0	0	0	0	0	28.83	25.91	28.83
5009	-0.87	-262.8	2060	2519	3872	3917	876.6	-16.7	217	5015	0.00	2.33	0.00	0.000	260	0.000	0.050	2050	3826	3894	3872	3916	0	0	0	0	0	0	28.83	25.13	28.83
5071	-0.87	-262.8	2050	3826	3870	3916	886.8	-16.8	219	5077	0.12	2.17	0.00	0.000	3078	0.143	0.026	2083	2507	3893	3870	3917	0	0	0	0	0	0	25.49	25.88	28.83
5404	-0.87	-262.8	2084	2507	3870	3912	939.6	-16.2	230	5410	0.00	2.33	0.00	0.000	260	0.000	0.047	2074	3821	3891	3870	3912	0	0	0	0	0	0	28.83	25.15	28.83
5478	-0.87	-262.8	2074	3821	3869	3912	949.6	-16.5	232	5484	0.00	2.15	0.00	0.000	1030	0.000	0.026	2074	2511	3890	3869	3912	0	0	0	0	0	0	28.83	25.84	28.83
5729	end dive: TARGET_DEPTH_EXCEEDED
state	5729	begin apogee
5741	-0.12	0.0	2073	2607	3868	3908	994.7	-17.1	241	5982	0.73	0.12	234.23	0.962	10246	0.097	0.060	2318	2521	2851	2956	2747	0	0	0	0	0	0	24.82	24.87	23.74
5984	end apogee: CONTROL_FINISHED_OK
state	5984	begin climb
5990	0.87	262.8	2318	2521	2940	2729	1018.5	0.0	249	5999	0.85	0.00	5.10	0.740	10498	0.034	0.000	2664	2521	2815	2920	2711	0	0	0	0	0	0	25.18	28.83	28.83
6000	end climb: ABORT_DEPTH_EXCEEDED