Glider dive log

OKMC Nov11 * SG169 * Dive index * Mission links * Dive 179 * 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 25

DIVE 179 HEADING 260 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 280 UPLOAD_DIVES_MAX -1 C_VBD 2979 DEVICE3 35

T_MISSION 320 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 -10944.936 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 250 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 0 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 400 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 400 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 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 280

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 260 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -10944.936

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 320

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 250 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 179 NAV_MODE 0 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 131211,165100,2316.670,12132.406,42,1.1,42,-3.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2315.126,12120.830

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,0.143

_SM_DEPTHo 0.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131211,165815,2317.001,12132.405,15,1.8,15,-3.1 MHEAD_RNG_PITCHd_Wd 263.1,20000,-16.1,-11.786

SPEED_LIMITS 0.204,0.345 D_GRID 665

Post-dive calculations and measurements:

FINISH 0.4,1.023010 _24V_AH 23.8,39.254

SM_CCo 9171,0.00,0.000,0,0,455,619.14 _10V_AH 10.3,26.080

SM_GC 0.78,5.53,0.20,0.00,0.022,0.064,0.000,119,2663,455,-5.80,-0.14,619.14,0,0,0,0,0,0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2305.10,12135.22,131211,121200 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 324492

HUMID 44.44 DATA_FILE_SIZE 70366,1050

INTERNAL_PRESSURE 9.40822 CAP_FILE_SIZE 113265,0

TCM_TEMP 22.90 CFSIZE 260165632,206536704

XPDR_PINGS 0 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 400.4,0.0 GPS 131211,193228,2316.919,12131.211,12,2.1,32,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 219 78.77 SBE_CT 708 24 404.62

Roll_motor 74 87 155.57 AA4330 1265 33 994.15

VBD_pump_during_apogee 744 970 17208.95 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 30 103 75.40 nil 0 0 0.00

Iridium_during_connect 43 160 164.33 nil 0 0 0.00

Iridium_during_xfer 227 223 1206.33 nil 0 0 0.00

Transponder_ping 0 420 2.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.23

TT8 2327 19 474.73

LPSleep 4141 2 93.42

TT8_Active 737 19 150.48

TT8_Sampling 2140 39 877.54

TT8_CF8 237 45 111.99

TT8_Kalman 0 0 0.00

Analog_circuits 1779 12 219.89

GPS_charging 0 0 0.00

Compass 1739 15 268.72

RAFOS 0 0 0.00

Transponder 3 30 0.96

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.70 -243.3 0.0 0.0 0 115 0.00 0.00 -96.55 0.000 2 0.000 0.000 117 2658 3120 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.70 -243.3 3.2 -7.1 17 149 6.47 1.83 -15.82 0.000 4 0.220 0.065 1764 3825 3964 0 0 0 0 0 0 25.32 25.94 26.39

288 -0.63 -243.3 66.7 -26.4 49 295 0.12 1.85 0.00 0.000 6 0.164 0.027 1805 2568 3965 0 0 0 0 0 0 25.81 26.13 28.83

600 -0.57 -243.3 141.4 -21.2 110 606 0.00 2.03 0.00 0.000 4 0.000 0.029 1813 1179 3966 0 0 0 0 0 0 28.83 26.20 28.83

660 -0.56 -243.3 152.2 -15.0 121 666 0.00 2.25 0.00 0.000 6 0.000 0.042 1802 2654 3966 0 0 0 0 0 0 28.83 26.15 28.83

971 -0.51 -243.3 210.2 -19.6 177 980 0.12 2.15 0.00 0.000 4 0.158 0.029 1852 1190 3967 0 0 0 0 0 0 26.14 26.26 28.83

1024 -0.55 -243.3 216.8 -11.4 182 1032 0.00 2.20 0.00 0.000 6 0.000 0.042 1850 2653 3967 0 0 0 0 0 0 28.83 26.22 28.83

1333 -0.58 -243.3 244.8 -8.9 213 1337 0.00 1.80 0.00 0.000 4 0.000 0.050 1841 3808 3967 0 0 0 0 0 0 28.83 26.20 28.83

1378 -0.62 -243.3 248.3 -8.5 217 1385 0.00 1.80 0.00 0.000 6 0.000 0.028 1841 2557 3967 0 0 0 0 0 0 28.83 26.41 28.83

1685 -0.64 -243.3 281.3 -11.6 248 1690 0.12 2.03 0.00 0.000 4 0.075 0.029 1754 1171 3965 0 0 0 0 0 0 26.53 26.32 28.83

1738 -0.62 -243.3 289.8 -17.2 253 1747 0.22 2.25 0.00 0.000 6 0.129 0.043 1813 2654 3965 0 0 0 0 0 0 25.98 26.25 28.83

2048 -0.60 -243.3 335.4 -13.1 284 2051 0.00 1.80 0.00 0.000 4 0.000 0.049 1804 3810 3962 0 0 0 0 0 0 28.83 26.23 28.83

2089 -0.60 -243.3 340.7 -13.2 288 2092 0.00 1.80 0.00 0.000 6 0.000 0.026 1804 2565 3962 0 0 0 0 0 0 28.83 26.44 28.83

2400 -0.59 -243.3 388.7 -15.7 319 2404 0.00 2.03 0.00 0.000 4 0.000 0.032 1804 1179 3960 0 0 0 0 0 0 28.83 26.31 28.83

2441 -0.59 -243.3 394.8 -14.6 323 2450 0.00 2.28 0.00 0.000 6 0.000 0.043 1794 2658 3959 0 0 0 0 0 0 28.83 26.26 28.83

2753 -0.57 -243.3 443.2 -14.8 354 2762 0.10 2.17 0.00 0.000 4 0.164 0.029 1822 1187 3957 0 0 0 0 0 0 26.36 26.32 28.83

2806 -0.60 -243.3 449.8 -11.5 359 2815 0.00 2.25 0.00 0.000 6 0.000 0.042 1814 2655 3957 0 0 0 0 0 0 28.83 26.26 28.83

3115 -0.60 -243.3 486.5 -12.9 390 3118 0.00 1.75 0.00 0.000 4 0.000 0.049 1805 3813 3954 0 0 0 0 0 0 28.83 26.22 28.83

3138 -0.60 -243.3 489.4 -13.0 392 3145 0.00 1.83 0.00 0.000 6 0.000 0.026 1805 2569 3954 0 0 0 0 0 0 28.83 26.44 28.83

3447 -0.60 -243.3 533.9 -14.3 423 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2568 3951 0 0 0 0 0 0 28.83 28.83 28.83

3749 -0.60 -243.3 573.8 -12.4 453 3757 0.00 2.03 0.00 0.000 4 0.000 0.031 1805 1185 3949 0 0 0 0 0 0 28.83 26.32 28.83

3780 -0.62 -243.3 578.0 -12.6 456 3789 0.00 2.25 0.00 0.000 6 0.000 0.045 1799 2650 3949 0 0 0 0 0 0 28.83 26.22 28.83

4102 -0.62 -243.3 618.5 -12.7 481 4103 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2651 3947 0 0 0 0 0 0 28.83 28.83 28.83

4400 -0.62 -243.3 657.0 -12.4 496 4406 0.00 2.20 0.00 0.000 4 0.000 0.033 1799 1183 3945 0 0 0 0 0 0 28.83 26.27 28.83

4449 -0.63 -243.3 661.5 -11.9 498 4453 0.00 2.28 0.00 0.000 6 0.000 0.045 1799 2657 3945 0 0 0 0 0 0 28.83 26.21 28.83

4493 end dive: TARGET_DEPTH_EXCEEDED

state 4493 begin apogee

4498 -0.20 0.0 667.0 -10.3 500 4701 0.40 0.12 195.80 0.971 6 0.100 0.087 1940 2531 2973 0 0 0 0 0 0 26.00 24.86 24.10

4702 end apogee: CONTROL_FINISHED_OK

state 4702 begin climb

4705 0.70 243.3 679.5 0.0 510 4930 0.80 2.22 212.32 0.955 4 0.044 0.050 2250 3808 1972 0 0 0 0 0 0 25.03 24.51 23.75

4994 0.59 243.3 640.3 26.9 525 5000 0.20 2.12 0.00 0.000 6 0.186 0.034 2206 2471 1961 0 0 0 0 0 0 24.84 25.18 28.83

5304 0.51 243.3 579.4 19.1 546 5314 0.12 2.12 0.00 0.000 4 0.193 0.048 2170 3803 1957 0 0 0 0 0 0 25.64 25.82 28.83

5368 0.46 243.3 567.3 18.5 552 5376 0.00 2.03 0.00 0.000 6 0.000 0.028 2180 2459 1956 0 0 0 0 0 0 28.83 25.96 28.83

5677 0.41 243.3 515.2 16.9 583 5686 0.12 2.15 0.00 0.000 4 0.181 0.045 2144 3816 1954 0 0 0 0 0 0 25.85 26.00 28.83

5722 0.38 243.3 508.7 15.6 587 5729 0.00 2.05 0.00 0.000 6 0.000 0.029 2154 2455 1953 0 0 0 0 0 0 28.83 26.10 28.83

6029 0.36 243.3 466.7 13.0 618 6038 0.00 2.15 0.00 0.000 4 0.000 0.047 2155 3817 1953 0 0 0 0 0 0 28.83 26.06 28.83

6082 0.33 243.3 459.1 15.2 623 6091 0.12 2.03 0.00 0.000 6 0.145 0.028 2124 2470 1953 0 0 0 0 0 0 25.79 26.19 28.83

6391 0.43 318.5 426.7 9.3 654 6462 0.00 0.00 68.20 0.797 6 0.000 0.000 2125 2470 1678 0 0 0 0 0 0 28.83 28.83 24.68

6761 0.63 449.7 397.7 7.5 691 6882 0.20 0.00 115.47 0.775 6 0.057 0.000 2239 2470 1139 0 0 0 0 0 0 26.08 28.83 24.44

7181 0.59 449.7 301.0 23.6 733 7191 0.12 2.15 0.00 0.000 4 0.164 0.048 2201 3810 1114 0 0 0 0 0 0 25.72 25.84 28.83

7236 0.57 449.7 290.0 20.6 738 7243 0.00 2.05 0.00 0.000 6 0.000 0.031 2212 2464 1112 0 0 0 0 0 0 28.83 25.96 28.83

7545 0.56 449.7 235.0 18.2 769 7551 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2463 1112 0 0 0 0 0 0 28.83 28.83 28.83

7853 0.56 449.7 184.0 16.4 810 7859 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2463 1110 0 0 0 0 0 0 28.83 28.83 28.83

8163 0.57 449.7 136.3 13.4 871 8170 0.00 2.12 0.00 0.000 4 0.000 0.047 2212 3820 1111 0 0 0 0 0 0 28.83 26.14 28.83

8222 0.59 449.7 128.3 13.6 882 8229 0.00 2.03 0.00 0.000 6 0.000 0.028 2223 2458 1110 0 0 0 0 0 0 28.83 26.25 28.83

8532 0.64 460.6 92.4 11.4 943 8539 0.00 2.10 0.00 0.000 4 0.000 0.037 2234 1057 1109 0 0 0 0 0 0 28.83 26.22 28.83

8646 1.00 664.4 83.8 5.2 965 8808 0.28 2.20 153.02 0.271 6 0.079 0.034 2337 2526 435 0 0 0 0 0 0 26.15 26.27 25.30

9080 end climb: SURFACE_DEPTH_REACHED

state 9080 begin surface coast

9096 end surface coast: CONTROL_FINISHED_OK

state 9096 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	25
DIVE	179	HEADING	260	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	280	UPLOAD_DIVES_MAX	-1	C_VBD	2979	DEVICE3	35
T_MISSION	320	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	-10944.936	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	250	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	0	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	400	SEABIRD_C_J	0.00023438112

GPS1	131211,165100,2316.670,12132.406,42,1.1,42,-3.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2315.126,12120.830
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,0.143
_SM_DEPTHo	0.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131211,165815,2317.001,12132.405,15,1.8,15,-3.1	MHEAD_RNG_PITCHd_Wd	263.1,20000,-16.1,-11.786
SPEED_LIMITS	0.204,0.345	D_GRID	665

FINISH	0.4,1.023010	_24V_AH	23.8,39.254
SM_CCo	9171,0.00,0.000,0,0,455,619.14	_10V_AH	10.3,26.080
SM_GC	0.78,5.53,0.20,0.00,0.022,0.064,0.000,119,2663,455,-5.80,-0.14,619.14,0,0,0,0,0,0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2305.10,12135.22,131211,121200	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	324492
HUMID	44.44	DATA_FILE_SIZE	70366,1050
INTERNAL_PRESSURE	9.40822	CAP_FILE_SIZE	113265,0
TCM_TEMP	22.90	CFSIZE	260165632,206536704
XPDR_PINGS	0	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	400.4,0.0	GPS	131211,193228,2316.919,12131.211,12,2.1,32,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	219	78.77	SBE_CT	708	24	404.62
Roll_motor	74	87	155.57	AA4330	1265	33	994.15
VBD_pump_during_apogee	744	970	17208.95	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	30	103	75.40	nil	0	0	0.00
Iridium_during_connect	43	160	164.33	nil	0	0	0.00
Iridium_during_xfer	227	223	1206.33	nil	0	0	0.00
Transponder_ping	0	420	2.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.23
TT8	2327	19	474.73
LPSleep	4141	2	93.42
TT8_Active	737	19	150.48
TT8_Sampling	2140	39	877.54
TT8_CF8	237	45	111.99
TT8_Kalman	0	0	0.00
Analog_circuits	1779	12	219.89
GPS_charging	0	0	0.00
Compass	1739	15	268.72
RAFOS	0	0	0.00
Transponder	3	30	0.96

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.70	-243.3	0.0	0.0	0	115	0.00	0.00	-96.55	0.000	2	0.000	0.000	117	2658	3120	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.70	-243.3	3.2	-7.1	17	149	6.47	1.83	-15.82	0.000	4	0.220	0.065	1764	3825	3964	0	0	0	0	0	0	25.32	25.94	26.39
288	-0.63	-243.3	66.7	-26.4	49	295	0.12	1.85	0.00	0.000	6	0.164	0.027	1805	2568	3965	0	0	0	0	0	0	25.81	26.13	28.83
600	-0.57	-243.3	141.4	-21.2	110	606	0.00	2.03	0.00	0.000	4	0.000	0.029	1813	1179	3966	0	0	0	0	0	0	28.83	26.20	28.83
660	-0.56	-243.3	152.2	-15.0	121	666	0.00	2.25	0.00	0.000	6	0.000	0.042	1802	2654	3966	0	0	0	0	0	0	28.83	26.15	28.83
971	-0.51	-243.3	210.2	-19.6	177	980	0.12	2.15	0.00	0.000	4	0.158	0.029	1852	1190	3967	0	0	0	0	0	0	26.14	26.26	28.83
1024	-0.55	-243.3	216.8	-11.4	182	1032	0.00	2.20	0.00	0.000	6	0.000	0.042	1850	2653	3967	0	0	0	0	0	0	28.83	26.22	28.83
1333	-0.58	-243.3	244.8	-8.9	213	1337	0.00	1.80	0.00	0.000	4	0.000	0.050	1841	3808	3967	0	0	0	0	0	0	28.83	26.20	28.83
1378	-0.62	-243.3	248.3	-8.5	217	1385	0.00	1.80	0.00	0.000	6	0.000	0.028	1841	2557	3967	0	0	0	0	0	0	28.83	26.41	28.83
1685	-0.64	-243.3	281.3	-11.6	248	1690	0.12	2.03	0.00	0.000	4	0.075	0.029	1754	1171	3965	0	0	0	0	0	0	26.53	26.32	28.83
1738	-0.62	-243.3	289.8	-17.2	253	1747	0.22	2.25	0.00	0.000	6	0.129	0.043	1813	2654	3965	0	0	0	0	0	0	25.98	26.25	28.83
2048	-0.60	-243.3	335.4	-13.1	284	2051	0.00	1.80	0.00	0.000	4	0.000	0.049	1804	3810	3962	0	0	0	0	0	0	28.83	26.23	28.83
2089	-0.60	-243.3	340.7	-13.2	288	2092	0.00	1.80	0.00	0.000	6	0.000	0.026	1804	2565	3962	0	0	0	0	0	0	28.83	26.44	28.83
2400	-0.59	-243.3	388.7	-15.7	319	2404	0.00	2.03	0.00	0.000	4	0.000	0.032	1804	1179	3960	0	0	0	0	0	0	28.83	26.31	28.83
2441	-0.59	-243.3	394.8	-14.6	323	2450	0.00	2.28	0.00	0.000	6	0.000	0.043	1794	2658	3959	0	0	0	0	0	0	28.83	26.26	28.83
2753	-0.57	-243.3	443.2	-14.8	354	2762	0.10	2.17	0.00	0.000	4	0.164	0.029	1822	1187	3957	0	0	0	0	0	0	26.36	26.32	28.83
2806	-0.60	-243.3	449.8	-11.5	359	2815	0.00	2.25	0.00	0.000	6	0.000	0.042	1814	2655	3957	0	0	0	0	0	0	28.83	26.26	28.83
3115	-0.60	-243.3	486.5	-12.9	390	3118	0.00	1.75	0.00	0.000	4	0.000	0.049	1805	3813	3954	0	0	0	0	0	0	28.83	26.22	28.83
3138	-0.60	-243.3	489.4	-13.0	392	3145	0.00	1.83	0.00	0.000	6	0.000	0.026	1805	2569	3954	0	0	0	0	0	0	28.83	26.44	28.83
3447	-0.60	-243.3	533.9	-14.3	423	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	1805	2568	3951	0	0	0	0	0	0	28.83	28.83	28.83
3749	-0.60	-243.3	573.8	-12.4	453	3757	0.00	2.03	0.00	0.000	4	0.000	0.031	1805	1185	3949	0	0	0	0	0	0	28.83	26.32	28.83
3780	-0.62	-243.3	578.0	-12.6	456	3789	0.00	2.25	0.00	0.000	6	0.000	0.045	1799	2650	3949	0	0	0	0	0	0	28.83	26.22	28.83
4102	-0.62	-243.3	618.5	-12.7	481	4103	0.00	0.00	0.00	0.000	6	0.000	0.000	1799	2651	3947	0	0	0	0	0	0	28.83	28.83	28.83
4400	-0.62	-243.3	657.0	-12.4	496	4406	0.00	2.20	0.00	0.000	4	0.000	0.033	1799	1183	3945	0	0	0	0	0	0	28.83	26.27	28.83
4449	-0.63	-243.3	661.5	-11.9	498	4453	0.00	2.28	0.00	0.000	6	0.000	0.045	1799	2657	3945	0	0	0	0	0	0	28.83	26.21	28.83
4493	end dive: TARGET_DEPTH_EXCEEDED
state	4493	begin apogee
4498	-0.20	0.0	667.0	-10.3	500	4701	0.40	0.12	195.80	0.971	6	0.100	0.087	1940	2531	2973	0	0	0	0	0	0	26.00	24.86	24.10
4702	end apogee: CONTROL_FINISHED_OK
state	4702	begin climb
4705	0.70	243.3	679.5	0.0	510	4930	0.80	2.22	212.32	0.955	4	0.044	0.050	2250	3808	1972	0	0	0	0	0	0	25.03	24.51	23.75
4994	0.59	243.3	640.3	26.9	525	5000	0.20	2.12	0.00	0.000	6	0.186	0.034	2206	2471	1961	0	0	0	0	0	0	24.84	25.18	28.83
5304	0.51	243.3	579.4	19.1	546	5314	0.12	2.12	0.00	0.000	4	0.193	0.048	2170	3803	1957	0	0	0	0	0	0	25.64	25.82	28.83
5368	0.46	243.3	567.3	18.5	552	5376	0.00	2.03	0.00	0.000	6	0.000	0.028	2180	2459	1956	0	0	0	0	0	0	28.83	25.96	28.83
5677	0.41	243.3	515.2	16.9	583	5686	0.12	2.15	0.00	0.000	4	0.181	0.045	2144	3816	1954	0	0	0	0	0	0	25.85	26.00	28.83
5722	0.38	243.3	508.7	15.6	587	5729	0.00	2.05	0.00	0.000	6	0.000	0.029	2154	2455	1953	0	0	0	0	0	0	28.83	26.10	28.83
6029	0.36	243.3	466.7	13.0	618	6038	0.00	2.15	0.00	0.000	4	0.000	0.047	2155	3817	1953	0	0	0	0	0	0	28.83	26.06	28.83
6082	0.33	243.3	459.1	15.2	623	6091	0.12	2.03	0.00	0.000	6	0.145	0.028	2124	2470	1953	0	0	0	0	0	0	25.79	26.19	28.83
6391	0.43	318.5	426.7	9.3	654	6462	0.00	0.00	68.20	0.797	6	0.000	0.000	2125	2470	1678	0	0	0	0	0	0	28.83	28.83	24.68
6761	0.63	449.7	397.7	7.5	691	6882	0.20	0.00	115.47	0.775	6	0.057	0.000	2239	2470	1139	0	0	0	0	0	0	26.08	28.83	24.44
7181	0.59	449.7	301.0	23.6	733	7191	0.12	2.15	0.00	0.000	4	0.164	0.048	2201	3810	1114	0	0	0	0	0	0	25.72	25.84	28.83
7236	0.57	449.7	290.0	20.6	738	7243	0.00	2.05	0.00	0.000	6	0.000	0.031	2212	2464	1112	0	0	0	0	0	0	28.83	25.96	28.83
7545	0.56	449.7	235.0	18.2	769	7551	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2463	1112	0	0	0	0	0	0	28.83	28.83	28.83
7853	0.56	449.7	184.0	16.4	810	7859	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2463	1110	0	0	0	0	0	0	28.83	28.83	28.83
8163	0.57	449.7	136.3	13.4	871	8170	0.00	2.12	0.00	0.000	4	0.000	0.047	2212	3820	1111	0	0	0	0	0	0	28.83	26.14	28.83
8222	0.59	449.7	128.3	13.6	882	8229	0.00	2.03	0.00	0.000	6	0.000	0.028	2223	2458	1110	0	0	0	0	0	0	28.83	26.25	28.83
8532	0.64	460.6	92.4	11.4	943	8539	0.00	2.10	0.00	0.000	4	0.000	0.037	2234	1057	1109	0	0	0	0	0	0	28.83	26.22	28.83
8646	1.00	664.4	83.8	5.2	965	8808	0.28	2.20	153.02	0.271	6	0.079	0.034	2337	2526	435	0	0	0	0	0	0	26.15	26.27	25.30
9080	end climb: SURFACE_DEPTH_REACHED
state	9080	begin surface coast
9096	end surface coast: CONTROL_FINISHED_OK
state	9096	begin surface