Glider dive log

OKMC Nov12 * SG170 * Dive index * Mission links * Dive 188 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HD_C 8e-06 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 HEADING -1 ROLL_MAX 3698 ALTIM_PING_DEPTH 0

DIVE 188 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2120 ALTIM_PULSE 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 3

D_ABORT 1040 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 80 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 8 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 3 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2769 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 380 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 400 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -5 T_GPS_CHARGE -143328.5 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 100 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 139 FG_AHR_24V 0 SEABIRD_T_G 0.0043559377

MAX_BUOY 175 PITCH_MAX 3933 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062550703

COURSE_BIAS 0 C_PITCH 3050 PRESSURE_YINT -48.120956 SEABIRD_T_I 2.3551509e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164274 SEABIRD_T_J 2.509174e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138787

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1450038

MASS 51479 PITCH_GAIN 34 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015582878

NAV_MODE 2 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00020114503

FERRY_MAX 45 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0049999999 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.0089999996 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 155 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3933 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 139 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164274 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -48.120956 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0049999999 PROTOCOL 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.0089999996 P_OVSHOOT 0.039999999 T_DIVE 380

CALL_WAIT 60 HD_C 8e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -143328.5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 170 RHO 1.0275 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.60000002 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 3050 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2120 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 ROLL_MAX 3698 UNCOM_BLEED 20

C_VBD 2769 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 165 USE_BATHY -5

DEEPGLIDERMB 0 MASS 51479 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 175 R_PORT_OVSHOOT 80 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 10 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -10.138787 VBD_MIN 460

DIVE 188 NOCOMM_ACTION 163 SEABIRD_C_H 1.1450038 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 N_DIVES 0 SEABIRD_C_I -0.0015582878 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_FILEKB 8 SEABIRD_C_J 0.00020114503 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043559377 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 3 SEABIRD_T_H 0.00062550703 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3551509e-05 XPDR_VALID 3

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_J 2.509174e-06

Pre-dive calculations and measurements:

GPS1 121212,142749,1836.156,12030.812,28,1.6,28,-2.4 TGT_NAME W4

_CALLS 2 TGT_LATLONG 1834.500,12031.750

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121212,143842,1836.491,12030.772,17,1.7,17,-2.4 MHEAD_RNG_PITCHd_Wd 151.0,4067,-14.9,-8.684,-17.18

SPEED_LIMITS 0.150,0.281 D_GRID 301

Post-dive calculations and measurements:

FINISH 1.4,1.012342 _10V_AH 10.1,19.105

SM_CCo 6950,0.00,0.000,0,0,458,566.89 FG_AHR_24Vo 0.000

SM_GC 2.24,8.62,0.77,0.00,0.060,0.044,0.000,143,2610,458,-9.06,-1.02,566.89,0,0,0,0,0,0,26.12,26.35,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1828.22,12028.97,121212,141438 MEM 337824

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 16798,422

HUMID 53.50 CAP_FILE_SIZE 117027,0

INTERNAL_PRESSURE 9.55664 CFSIZE 260034560,231673856

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.319, 9.3,1

SC_FREEKB 3947936 GPS 121212,163604,1836.867,12031.386,26,1.1,26,-2.4

_24V_AH 24.4,41.484

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 240 128.51 nil 0 0 0.00

Roll_motor 82 52 105.81 nil 0 0 0.00

VBD_pump_during_apogee 595 931 13543.92 nil 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 6905 17 2902.27

Iridium_during_xfer 411 121 1222.18 nil 0 0 0.00

Transponder_ping 0 420 2.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 30 5.97

TT8 1333 13 178.37

LPSleep 3879 2 85.80

TT8_Active 630 13 84.32

TT8_Sampling 1555 38 608.26

TT8_CF8 208 45 95.52

TT8_Kalman 0 0 0.00

Analog_circuits 1736 15 280.06

GPS_charging 0 0 0.00

Compass 1057 8 87.99

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.51 -170.3 0.0 0.0 0 87 0.00 0.00 -64.38 0.000 2 0.000 0.000 134 2613 1908 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.51 -170.3 3.1 -2.1 11 157 11.15 2.12 -49.67 0.000 4 0.240 0.039 2880 1195 3465 0 0 0 0 0 0 25.62 26.25 26.55

235 -0.46 -170.3 27.0 -21.0 36 243 0.00 2.17 0.00 0.000 6 0.000 0.044 2880 2592 3466 0 0 0 0 0 0 28.83 26.19 28.83

422 -0.41 -170.3 66.4 -20.3 51 428 0.12 1.70 0.00 0.000 4 0.165 0.053 2919 3695 3466 0 0 0 0 0 0 26.18 26.26 28.83

506 -0.40 -170.3 78.9 -14.6 55 511 0.00 1.58 0.00 0.000 6 0.000 0.022 2919 2581 3466 0 0 0 0 0 0 28.83 26.51 28.83

709 -0.40 -170.3 98.0 -9.3 65 715 0.00 1.98 0.00 0.000 4 0.000 0.028 2919 1207 3466 0 0 0 0 0 0 28.83 26.46 28.83

747 -0.40 -170.3 100.7 -10.3 66 753 0.00 2.12 0.00 0.000 6 0.000 0.041 2919 2607 3466 0 0 0 0 0 0 28.83 26.37 28.83

933 -0.40 -170.3 122.1 -10.8 76 938 0.00 1.70 0.00 0.000 4 0.000 0.053 2919 3686 3466 0 0 0 0 0 0 28.83 26.38 28.83

1058 -0.42 -170.3 134.4 -9.9 82 1063 0.00 1.52 0.00 0.000 6 0.000 0.022 2919 2569 3465 0 0 0 0 0 0 28.83 26.60 28.83

1263 -0.44 -170.3 149.3 -6.8 92 1268 0.00 1.88 0.00 0.000 4 0.000 0.027 2919 1246 3466 0 0 0 0 0 0 28.83 26.52 28.83

1322 -0.45 -170.3 152.8 -7.4 94 1328 0.00 2.08 0.00 0.000 6 0.000 0.040 2919 2607 3466 0 0 0 0 0 0 28.83 26.43 28.83

1508 -0.48 -170.3 168.6 -7.8 104 1509 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2608 3466 0 0 0 0 0 0 28.83 28.83 28.83

1686 -0.50 -170.3 181.3 -7.0 113 1692 0.00 1.67 0.00 0.000 4 0.000 0.052 2919 3691 3465 0 0 0 0 0 0 28.83 26.42 28.83

1740 -0.53 -170.3 184.1 -6.7 115 1746 0.12 1.52 0.00 0.000 6 0.088 0.024 2837 2585 3464 0 0 0 0 0 0 26.51 26.63 28.83

1936 -0.51 -170.3 207.5 -13.0 125 1942 0.12 1.92 0.00 0.000 4 0.148 0.023 2880 1235 3464 0 0 0 0 0 0 26.40 26.55 28.83

2000 -0.51 -170.3 214.0 -10.5 128 2006 0.00 2.10 0.00 0.000 6 0.000 0.041 2880 2611 3464 0 0 0 0 0 0 28.83 26.44 28.83

2205 -0.52 -170.3 230.6 -8.5 138 2210 0.00 2.00 0.00 0.000 4 0.000 0.028 2880 1243 3463 0 0 0 0 0 0 28.83 26.55 28.83

2233 -0.53 -170.3 232.6 -8.4 139 2238 0.00 2.08 0.00 0.000 6 0.000 0.041 2880 2600 3462 0 0 0 0 0 0 28.83 26.44 28.83

2432 -0.54 -170.3 247.6 -7.5 149 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2600 3462 0 0 0 0 0 0 28.83 28.83 28.83

2612 -0.55 -170.3 261.5 -7.8 158 2617 0.00 1.98 0.00 0.000 4 0.000 0.025 2880 1238 3460 0 0 0 0 0 0 28.83 26.55 28.83

2670 -0.57 -170.3 265.1 -7.9 160 2677 0.00 2.08 0.00 0.000 6 0.000 0.041 2880 2603 3460 0 0 0 0 0 0 28.83 26.44 28.83

2976 -0.58 -170.3 291.7 -8.2 176 2981 0.00 1.98 0.00 0.000 4 0.000 0.024 2880 1245 3457 0 0 0 0 0 0 28.83 26.56 28.83

3043 -0.59 -170.3 296.9 -8.2 179 3049 0.00 2.08 0.00 0.000 6 0.000 0.041 2880 2612 3457 0 0 0 0 0 0 28.83 26.44 28.83

3100 end dive: TARGET_DEPTH_EXCEEDED

state 3101 begin apogee

3106 -0.15 0.0 301.6 -7.5 182 3244 0.32 0.00 129.85 0.932 6 0.106 0.000 2997 2120 2769 0 0 0 0 0 0 26.27 28.83 24.58

3246 end apogee: CONTROL_FINISHED_OK

state 3246 begin climb

3248 0.51 170.3 305.6 0.0 189 3398 0.57 2.12 137.85 0.907 4 0.070 0.033 3213 776 2071 0 0 0 0 0 0 25.42 25.19 24.44

3460 0.51 187.5 295.4 8.1 199 3481 0.00 2.10 14.90 0.827 6 0.000 0.035 3213 2125 2003 0 0 0 0 0 0 28.83 25.70 24.71

3788 0.50 187.5 263.2 9.5 216 3790 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 2126 1997 0 0 0 0 0 0 28.83 28.83 28.83

4090 0.49 187.5 233.7 9.3 231 4095 0.00 2.03 0.00 0.000 4 0.000 0.031 3213 770 1994 0 0 0 0 0 0 28.83 26.38 28.83

4153 0.50 205.5 228.6 8.1 234 4174 0.00 2.03 14.77 0.831 6 0.000 0.034 3213 2124 1931 0 0 0 0 0 0 28.83 26.38 25.29

4355 0.53 282.6 215.8 6.1 244 4422 0.00 2.25 62.08 0.878 4 0.000 0.045 3213 3522 1614 0 0 0 0 0 0 28.83 25.53 24.82

4462 0.55 327.1 208.5 7.2 249 4505 0.00 2.05 36.12 0.848 6 0.000 0.024 3213 2168 1435 0 0 0 0 0 0 28.83 25.89 24.77

4698 0.57 327.1 187.0 9.4 261 4703 0.00 2.15 0.00 0.000 4 0.000 0.032 3213 718 1428 0 0 0 0 0 0 28.83 26.13 28.83

4730 0.59 327.1 184.9 9.4 262 4736 0.00 2.15 0.00 0.000 6 0.000 0.033 3213 2129 1428 0 0 0 0 0 0 28.83 26.15 28.83

4926 0.61 332.6 167.9 8.5 272 4936 0.10 2.17 4.80 0.615 4 0.104 0.045 3274 3535 1413 0 0 0 0 0 0 26.41 26.25 25.21

4974 0.62 332.6 162.7 9.6 274 4979 0.12 2.10 0.00 0.000 6 0.151 0.025 3245 2112 1412 0 0 0 0 0 0 26.13 26.34 28.83

5175 0.63 332.6 141.2 10.4 284 5180 0.00 2.05 0.00 0.000 4 0.000 0.034 3244 729 1411 0 0 0 0 0 0 28.83 26.37 28.83

5252 0.64 332.6 135.5 9.2 287 5258 0.00 2.10 0.00 0.000 6 0.000 0.033 3244 2124 1411 0 0 0 0 0 0 28.83 26.38 28.83

5438 0.68 393.9 121.5 6.6 297 5498 0.00 2.28 49.83 0.813 4 0.000 0.047 3244 3529 1161 0 0 0 0 0 0 28.83 25.75 25.03

5551 0.73 435.8 114.0 7.3 302 5595 0.12 2.10 34.83 0.786 6 0.085 0.024 3322 2105 991 0 0 0 0 0 0 25.98 26.04 24.87

5783 0.73 435.8 84.8 12.0 314 5789 0.12 2.05 0.00 0.000 4 0.135 0.031 3285 736 987 0 0 0 0 0 0 26.09 26.15 28.83

5890 0.79 490.0 77.2 6.8 319 5941 0.00 2.10 44.78 0.766 6 0.000 0.031 3282 2132 770 0 0 0 0 0 0 28.83 26.24 25.02

6129 0.84 531.8 61.1 7.3 331 6174 0.12 2.25 35.78 0.743 4 0.089 0.047 3367 3520 601 0 0 0 0 0 0 26.25 25.75 25.05

6247 0.84 531.8 50.3 11.0 336 6254 0.15 2.08 0.00 0.000 6 0.133 0.024 3321 2133 599 0 0 0 0 0 0 25.89 26.08 28.83

6433 0.90 578.1 34.7 7.1 355 6465 0.00 0.00 30.15 0.718 6 0.000 0.000 3321 2128 461 0 0 0 0 0 0 28.83 28.83 25.19

6643 0.98 633.9 22.7 6.8 379 6651 0.12 2.22 0.00 0.000 4 0.091 0.045 3396 3535 459 0 0 0 0 0 0 26.28 26.15 28.83

6695 0.99 633.9 17.1 11.3 388 6702 0.00 2.10 0.00 0.000 6 0.000 0.025 3398 2116 459 0 0 0 0 0 0 28.83 26.31 28.83

6839 end climb: SURFACE_DEPTH_REACHED

state 6839 begin surface coast

6872 end surface coast: CONTROL_FINISHED_OK

state 6872 begin surface

ID	170	HD_C	8e-06	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	HEADING	-1	ROLL_MAX	3698	ALTIM_PING_DEPTH	0
DIVE	188	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2120	ALTIM_PULSE	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	3
D_ABORT	1040	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	80	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	8	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	3	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2769	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	380	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	400	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-5	T_GPS_CHARGE	-143328.5	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	100	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	139	FG_AHR_24V	0	SEABIRD_T_G	0.0043559377
MAX_BUOY	175	PITCH_MAX	3933	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062550703
COURSE_BIAS	0	C_PITCH	3050	PRESSURE_YINT	-48.120956	SEABIRD_T_I	2.3551509e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164274	SEABIRD_T_J	2.509174e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138787
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1450038
MASS	51479	PITCH_GAIN	34	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015582878
NAV_MODE	2	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00020114503
FERRY_MAX	45	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0049999999	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.0089999996	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	121212,142749,1836.156,12030.812,28,1.6,28,-2.4	TGT_NAME	W4
_CALLS	2	TGT_LATLONG	1834.500,12031.750
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121212,143842,1836.491,12030.772,17,1.7,17,-2.4	MHEAD_RNG_PITCHd_Wd	151.0,4067,-14.9,-8.684,-17.18
SPEED_LIMITS	0.150,0.281	D_GRID	301

FINISH	1.4,1.012342	_10V_AH	10.1,19.105
SM_CCo	6950,0.00,0.000,0,0,458,566.89	FG_AHR_24Vo	0.000
SM_GC	2.24,8.62,0.77,0.00,0.060,0.044,0.000,143,2610,458,-9.06,-1.02,566.89,0,0,0,0,0,0,26.12,26.35,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1828.22,12028.97,121212,141438	MEM	337824
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	16798,422
HUMID	53.50	CAP_FILE_SIZE	117027,0
INTERNAL_PRESSURE	9.55664	CFSIZE	260034560,231673856
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.319, 9.3,1
SC_FREEKB	3947936	GPS	121212,163604,1836.867,12031.386,26,1.1,26,-2.4
_24V_AH	24.4,41.484

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	240	128.51	nil	0	0	0.00
Roll_motor	82	52	105.81	nil	0	0	0.00
VBD_pump_during_apogee	595	931	13543.92	nil	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	6905	17	2902.27
Iridium_during_xfer	411	121	1222.18	nil	0	0	0.00
Transponder_ping	0	420	2.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	30	5.97
TT8	1333	13	178.37
LPSleep	3879	2	85.80
TT8_Active	630	13	84.32
TT8_Sampling	1555	38	608.26
TT8_CF8	208	45	95.52
TT8_Kalman	0	0	0.00
Analog_circuits	1736	15	280.06
GPS_charging	0	0	0.00
Compass	1057	8	87.99
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.51	-170.3	0.0	0.0	0	87	0.00	0.00	-64.38	0.000	2	0.000	0.000	134	2613	1908	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.51	-170.3	3.1	-2.1	11	157	11.15	2.12	-49.67	0.000	4	0.240	0.039	2880	1195	3465	0	0	0	0	0	0	25.62	26.25	26.55
235	-0.46	-170.3	27.0	-21.0	36	243	0.00	2.17	0.00	0.000	6	0.000	0.044	2880	2592	3466	0	0	0	0	0	0	28.83	26.19	28.83
422	-0.41	-170.3	66.4	-20.3	51	428	0.12	1.70	0.00	0.000	4	0.165	0.053	2919	3695	3466	0	0	0	0	0	0	26.18	26.26	28.83
506	-0.40	-170.3	78.9	-14.6	55	511	0.00	1.58	0.00	0.000	6	0.000	0.022	2919	2581	3466	0	0	0	0	0	0	28.83	26.51	28.83
709	-0.40	-170.3	98.0	-9.3	65	715	0.00	1.98	0.00	0.000	4	0.000	0.028	2919	1207	3466	0	0	0	0	0	0	28.83	26.46	28.83
747	-0.40	-170.3	100.7	-10.3	66	753	0.00	2.12	0.00	0.000	6	0.000	0.041	2919	2607	3466	0	0	0	0	0	0	28.83	26.37	28.83
933	-0.40	-170.3	122.1	-10.8	76	938	0.00	1.70	0.00	0.000	4	0.000	0.053	2919	3686	3466	0	0	0	0	0	0	28.83	26.38	28.83
1058	-0.42	-170.3	134.4	-9.9	82	1063	0.00	1.52	0.00	0.000	6	0.000	0.022	2919	2569	3465	0	0	0	0	0	0	28.83	26.60	28.83
1263	-0.44	-170.3	149.3	-6.8	92	1268	0.00	1.88	0.00	0.000	4	0.000	0.027	2919	1246	3466	0	0	0	0	0	0	28.83	26.52	28.83
1322	-0.45	-170.3	152.8	-7.4	94	1328	0.00	2.08	0.00	0.000	6	0.000	0.040	2919	2607	3466	0	0	0	0	0	0	28.83	26.43	28.83
1508	-0.48	-170.3	168.6	-7.8	104	1509	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2608	3466	0	0	0	0	0	0	28.83	28.83	28.83
1686	-0.50	-170.3	181.3	-7.0	113	1692	0.00	1.67	0.00	0.000	4	0.000	0.052	2919	3691	3465	0	0	0	0	0	0	28.83	26.42	28.83
1740	-0.53	-170.3	184.1	-6.7	115	1746	0.12	1.52	0.00	0.000	6	0.088	0.024	2837	2585	3464	0	0	0	0	0	0	26.51	26.63	28.83
1936	-0.51	-170.3	207.5	-13.0	125	1942	0.12	1.92	0.00	0.000	4	0.148	0.023	2880	1235	3464	0	0	0	0	0	0	26.40	26.55	28.83
2000	-0.51	-170.3	214.0	-10.5	128	2006	0.00	2.10	0.00	0.000	6	0.000	0.041	2880	2611	3464	0	0	0	0	0	0	28.83	26.44	28.83
2205	-0.52	-170.3	230.6	-8.5	138	2210	0.00	2.00	0.00	0.000	4	0.000	0.028	2880	1243	3463	0	0	0	0	0	0	28.83	26.55	28.83
2233	-0.53	-170.3	232.6	-8.4	139	2238	0.00	2.08	0.00	0.000	6	0.000	0.041	2880	2600	3462	0	0	0	0	0	0	28.83	26.44	28.83
2432	-0.54	-170.3	247.6	-7.5	149	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2600	3462	0	0	0	0	0	0	28.83	28.83	28.83
2612	-0.55	-170.3	261.5	-7.8	158	2617	0.00	1.98	0.00	0.000	4	0.000	0.025	2880	1238	3460	0	0	0	0	0	0	28.83	26.55	28.83
2670	-0.57	-170.3	265.1	-7.9	160	2677	0.00	2.08	0.00	0.000	6	0.000	0.041	2880	2603	3460	0	0	0	0	0	0	28.83	26.44	28.83
2976	-0.58	-170.3	291.7	-8.2	176	2981	0.00	1.98	0.00	0.000	4	0.000	0.024	2880	1245	3457	0	0	0	0	0	0	28.83	26.56	28.83
3043	-0.59	-170.3	296.9	-8.2	179	3049	0.00	2.08	0.00	0.000	6	0.000	0.041	2880	2612	3457	0	0	0	0	0	0	28.83	26.44	28.83
3100	end dive: TARGET_DEPTH_EXCEEDED
state	3101	begin apogee
3106	-0.15	0.0	301.6	-7.5	182	3244	0.32	0.00	129.85	0.932	6	0.106	0.000	2997	2120	2769	0	0	0	0	0	0	26.27	28.83	24.58
3246	end apogee: CONTROL_FINISHED_OK
state	3246	begin climb
3248	0.51	170.3	305.6	0.0	189	3398	0.57	2.12	137.85	0.907	4	0.070	0.033	3213	776	2071	0	0	0	0	0	0	25.42	25.19	24.44
3460	0.51	187.5	295.4	8.1	199	3481	0.00	2.10	14.90	0.827	6	0.000	0.035	3213	2125	2003	0	0	0	0	0	0	28.83	25.70	24.71
3788	0.50	187.5	263.2	9.5	216	3790	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	2126	1997	0	0	0	0	0	0	28.83	28.83	28.83
4090	0.49	187.5	233.7	9.3	231	4095	0.00	2.03	0.00	0.000	4	0.000	0.031	3213	770	1994	0	0	0	0	0	0	28.83	26.38	28.83
4153	0.50	205.5	228.6	8.1	234	4174	0.00	2.03	14.77	0.831	6	0.000	0.034	3213	2124	1931	0	0	0	0	0	0	28.83	26.38	25.29
4355	0.53	282.6	215.8	6.1	244	4422	0.00	2.25	62.08	0.878	4	0.000	0.045	3213	3522	1614	0	0	0	0	0	0	28.83	25.53	24.82
4462	0.55	327.1	208.5	7.2	249	4505	0.00	2.05	36.12	0.848	6	0.000	0.024	3213	2168	1435	0	0	0	0	0	0	28.83	25.89	24.77
4698	0.57	327.1	187.0	9.4	261	4703	0.00	2.15	0.00	0.000	4	0.000	0.032	3213	718	1428	0	0	0	0	0	0	28.83	26.13	28.83
4730	0.59	327.1	184.9	9.4	262	4736	0.00	2.15	0.00	0.000	6	0.000	0.033	3213	2129	1428	0	0	0	0	0	0	28.83	26.15	28.83
4926	0.61	332.6	167.9	8.5	272	4936	0.10	2.17	4.80	0.615	4	0.104	0.045	3274	3535	1413	0	0	0	0	0	0	26.41	26.25	25.21
4974	0.62	332.6	162.7	9.6	274	4979	0.12	2.10	0.00	0.000	6	0.151	0.025	3245	2112	1412	0	0	0	0	0	0	26.13	26.34	28.83
5175	0.63	332.6	141.2	10.4	284	5180	0.00	2.05	0.00	0.000	4	0.000	0.034	3244	729	1411	0	0	0	0	0	0	28.83	26.37	28.83
5252	0.64	332.6	135.5	9.2	287	5258	0.00	2.10	0.00	0.000	6	0.000	0.033	3244	2124	1411	0	0	0	0	0	0	28.83	26.38	28.83
5438	0.68	393.9	121.5	6.6	297	5498	0.00	2.28	49.83	0.813	4	0.000	0.047	3244	3529	1161	0	0	0	0	0	0	28.83	25.75	25.03
5551	0.73	435.8	114.0	7.3	302	5595	0.12	2.10	34.83	0.786	6	0.085	0.024	3322	2105	991	0	0	0	0	0	0	25.98	26.04	24.87
5783	0.73	435.8	84.8	12.0	314	5789	0.12	2.05	0.00	0.000	4	0.135	0.031	3285	736	987	0	0	0	0	0	0	26.09	26.15	28.83
5890	0.79	490.0	77.2	6.8	319	5941	0.00	2.10	44.78	0.766	6	0.000	0.031	3282	2132	770	0	0	0	0	0	0	28.83	26.24	25.02
6129	0.84	531.8	61.1	7.3	331	6174	0.12	2.25	35.78	0.743	4	0.089	0.047	3367	3520	601	0	0	0	0	0	0	26.25	25.75	25.05
6247	0.84	531.8	50.3	11.0	336	6254	0.15	2.08	0.00	0.000	6	0.133	0.024	3321	2133	599	0	0	0	0	0	0	25.89	26.08	28.83
6433	0.90	578.1	34.7	7.1	355	6465	0.00	0.00	30.15	0.718	6	0.000	0.000	3321	2128	461	0	0	0	0	0	0	28.83	28.83	25.19
6643	0.98	633.9	22.7	6.8	379	6651	0.12	2.22	0.00	0.000	4	0.091	0.045	3396	3535	459	0	0	0	0	0	0	26.28	26.15	28.83
6695	0.99	633.9	17.1	11.3	388	6702	0.00	2.10	0.00	0.000	6	0.000	0.025	3398	2116	459	0	0	0	0	0	0	28.83	26.31	28.83
6839	end climb: SURFACE_DEPTH_REACHED
state	6839	begin surface coast
6872	end surface coast: CONTROL_FINISHED_OK
state	6872	begin surface