Glider dive log

OKMC Nov11 * SG168 * Dive index * Mission links * Dive 210 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_B 0.010078 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 50

DIVE 210 HEADING -1 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 8 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 8 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1975 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 100 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 4 N_FILEKB 8 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 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 415 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 400 UPLOAD_DIVES_MAX -1 C_VBD 2954 DEVICE3 35

T_MISSION 450 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 4 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 -5 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -6120.0269 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 175 PITCH_MIN 143 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 2250 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042821765

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PRESSURE_YINT -64.650215 SEABIRD_T_H 0.00061988086

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.2270933e-05

MASS 51744 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2936731e-06

NAV_MODE 0 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8276911

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1035888

KALMAN_USE 2 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0012978988

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 250 SEABIRD_C_J 0.0001838774

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 400

ALTIM_BOTTOM_PING_RANGE 250 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_SURF 8 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 37 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 143 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 -64.650215 T_DIVE 400

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.029999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -6120.0269

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 450

COMPASS_DEVICE 33 ID 168 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 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2250 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1975 LOGGERDEVICE1 -1 ROLL_AD_RATE 400 T_WATCHDOG 10

C_ROLL_DIVE 2025 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2954 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3729 USE_BATHY -5

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51744 ROLL_MIN 160 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT 32 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 42 VBD_MAX 3960

DEVICE5 -1 MISSION 6 SEABIRD_C_G -9.8276911 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1035888 VBD_MIN 415

DIVE 210 NAV_MODE 0 SEABIRD_C_I -0.0012978988 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.0001838774 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0042821765 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061988086 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.2270933e-05 XPDR_INHIBIT 90

D_FLARE 8 N_NOCOMM 3 SEABIRD_T_J 2.2936731e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 251211,064037,1833.284,12221.478,48,1.5,48,-2.1 TGT_NAME S1

_CALLS 1 TGT_LATLONG 1831.410,12216.350

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.030,-0.310

_SM_DEPTHo 6.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251211,064744,1833.500,12221.327,22,1.6,22,-2.1 MHEAD_RNG_PITCHd_Wd 248.2,9560,-14.1,-8.250

SPEED_LIMITS 0.143,0.261 D_GRID 463

Post-dive calculations and measurements:

FINISH 6.2,1.021483 _24V_AH 24.4,39.371

SM_CCo 9096,0.00,0.000,0,0,839,519.05 _10V_AH 10.1,33.535

SM_GC 6.62,6.03,2.15,0.00,0.027,0.032,0.000,102,2005,839,-6.56,0.82,519.05,0,0,0,0,0,0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1825.94,12220.08,251211,020207 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 324052

HUMID 43.58 DATA_FILE_SIZE 76760,1125

INTERNAL_PRESSURE 9.50232 CAP_FILE_SIZE 117329,0

TCM_TEMP 23.70 CFSIZE 260165632,201207808

XPDR_PINGS 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,4

ALTIM_BOTTOM_PING 278.7,999.0 GPS 251211,092038,1834.232,12219.071,13,2.0,20,-2.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 197 77.90 SBE_CT 762 24 446.52

Roll_motor 87 113 241.86 AA4330 1771 33 1426.20

VBD_pump_during_apogee 543 725 9618.76 WL_BB2F 918 105 2352.70

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 40 103 102.41 nil 0 0 0.00

Iridium_during_connect 22 160 88.03 nil 0 0 0.00

Iridium_during_xfer 219 223 1194.56 nil 0 0 0.00

Transponder_ping 1 420 17.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 50 13.34

TT8 2520 19 504.02

LPSleep 3524 2 77.96

TT8_Active 578 19 115.76

TT8_Sampling 2585 39 1039.24

TT8_CF8 294 45 136.12

TT8_Kalman 0 0 0.00

Analog_circuits 1618 12 196.18

GPS_charging 0 0 0.00

Compass 2247 15 340.53

RAFOS 0 0 0.00

Transponder 2 30 0.86

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

17 -0.59 -170.3 0.0 0.0 0 77 0.00 0.00 -57.45 0.000 2 0.000 0.000 101 1996 2571 0 0 0 0 0 0 28.83 28.83 28.83

80 -0.59 -170.3 8.1 -4.8 9 113 7.12 2.28 -19.88 0.000 4 0.197 0.047 2041 3437 3652 0 0 0 0 0 0 25.33 25.96 26.36

293 -0.54 -170.3 68.3 -22.7 47 301 0.12 2.20 0.00 0.000 6 0.132 0.042 2079 2025 3653 0 0 0 0 0 0 25.80 25.94 28.83

623 -0.52 -170.3 125.9 -12.6 108 631 0.00 2.25 0.00 0.000 4 0.000 0.053 2079 610 3654 0 0 0 0 0 0 28.83 25.98 28.83

682 -0.52 -170.3 132.6 -10.7 118 690 0.00 2.15 0.00 0.000 6 0.000 0.034 2072 2018 3654 0 0 0 0 0 0 28.83 26.15 28.83

1016 -0.49 -170.3 184.2 -15.0 179 1023 0.10 2.20 0.00 0.000 4 0.155 0.041 2092 3435 3654 0 0 0 0 0 0 26.30 26.14 28.83

1140 -0.50 -170.3 196.5 -9.0 201 1147 0.00 2.15 0.00 0.000 6 0.000 0.034 2093 2020 3654 0 0 0 0 0 0 28.83 26.17 28.83

1458 -0.50 -170.3 229.0 -8.9 235 1466 0.00 2.17 0.00 0.000 4 0.000 0.043 2084 3435 3652 0 0 0 0 0 0 28.83 26.17 28.83

1501 -0.51 -170.3 232.7 -8.5 239 1510 0.00 2.15 0.00 0.000 6 0.000 0.036 2084 2022 3652 0 0 0 0 0 0 28.83 26.17 28.83

1809 -0.51 -170.3 260.1 -9.0 270 1813 0.00 2.22 0.00 0.000 4 0.000 0.054 2083 609 3650 0 0 0 0 0 0 28.83 26.05 28.83

1833 -0.51 -170.3 262.1 -9.2 272 1843 0.00 2.12 0.00 0.000 6 0.000 0.036 2080 2023 3651 0 0 0 0 0 0 28.83 26.23 28.83

2143 -0.50 -170.3 293.7 -11.1 303 2151 0.00 2.15 0.00 0.000 4 0.000 0.041 2071 3428 3648 0 0 0 0 0 0 28.83 26.19 28.83

2187 -0.50 -170.3 298.0 -9.8 307 2196 0.03 2.15 0.00 0.000 6 0.125 0.037 2092 2027 3648 0 0 0 0 0 0 26.07 26.16 28.83

2495 -0.51 -170.3 325.3 -8.9 338 2499 0.00 2.22 0.00 0.000 4 0.000 0.055 2093 614 3646 0 0 0 0 0 0 28.83 26.03 28.83

2558 -0.53 -170.3 330.5 -8.1 344 2562 0.00 2.15 0.00 0.000 6 0.000 0.037 2087 2033 3646 0 0 0 0 0 0 28.83 26.22 28.83

2870 -0.54 -170.3 355.2 -7.5 375 2879 0.00 2.17 0.00 0.000 4 0.000 0.042 2079 3435 3643 0 0 0 0 0 0 28.83 26.17 28.83

2903 -0.55 -170.3 357.7 -7.6 378 2913 0.00 2.15 0.00 0.000 6 0.000 0.036 2078 2024 3643 0 0 0 0 0 0 28.83 26.17 28.83

3213 -0.55 -170.3 383.5 -8.6 409 3214 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2024 3641 0 0 0 0 0 0 28.83 28.83 28.83

3514 -0.55 -170.3 409.2 -8.3 439 3523 0.00 2.17 0.00 0.000 4 0.000 0.043 2072 3432 3639 0 0 0 0 0 0 28.83 26.15 28.83

3586 -0.57 -170.3 415.2 -8.1 446 3595 0.00 2.17 0.00 0.000 6 0.000 0.037 2072 2022 3638 0 0 0 0 0 0 28.83 26.15 28.83

3897 -0.57 -170.3 444.2 -9.7 477 3905 0.00 2.22 0.00 0.000 4 0.000 0.057 2072 614 3637 0 0 0 0 0 0 28.83 25.97 28.83

3950 -0.58 -170.3 449.4 -10.2 482 3959 0.00 2.15 0.00 0.000 6 0.000 0.037 2069 2024 3636 0 0 0 0 0 0 28.83 26.20 28.83

4086 end dive: TARGET_DEPTH_EXCEEDED

state 4086 begin apogee

4092 -0.22 0.0 463.1 -9.8 496 4228 0.30 0.00 130.98 0.725 6 0.093 0.000 2180 1966 2949 0 0 0 0 0 0 26.09 28.83 24.50

4231 end apogee: CONTROL_FINISHED_OK

state 4231 begin climb

4233 0.59 170.3 470.3 0.0 510 4381 0.68 2.35 135.52 0.711 4 0.052 0.055 2463 576 2250 0 0 0 0 0 0 25.32 25.06 24.37

4444 0.54 170.3 461.2 12.3 531 4454 0.15 2.15 0.00 0.000 6 0.135 0.025 2421 1985 2241 0 0 0 0 0 0 25.29 25.53 28.83

4754 0.51 170.3 429.3 10.6 562 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 1985 2235 0 0 0 0 0 0 28.83 28.83 28.83

5057 0.48 170.3 399.9 9.9 592 5066 0.08 2.12 0.00 0.000 4 0.196 0.032 2403 3384 2233 0 0 0 0 0 0 26.13 26.04 28.83

5171 0.46 170.3 389.0 9.2 603 5180 0.03 2.17 0.00 0.000 6 0.183 0.040 2401 1983 2231 0 0 0 0 0 0 25.86 25.97 28.83

5482 0.45 178.8 365.0 8.0 634 5488 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 1983 2230 0 0 0 0 0 0 28.83 28.83 28.83

5790 0.44 178.8 337.8 9.2 665 5799 0.00 2.20 0.00 0.000 4 0.000 0.053 2412 580 2228 0 0 0 0 0 0 28.83 25.99 28.83

5843 0.42 178.8 332.1 11.3 670 5852 0.08 2.05 0.00 0.000 6 0.113 0.026 2381 1963 2227 0 0 0 0 0 0 25.99 26.25 28.83

6152 0.52 260.0 312.6 5.6 701 6232 0.12 2.33 69.28 0.652 4 0.078 0.057 2483 573 1881 0 0 0 0 0 0 26.44 25.56 24.88

6249 0.48 260.0 302.0 13.7 710 6256 0.28 2.15 0.00 0.000 6 0.122 0.026 2398 1985 1876 0 0 0 0 0 0 25.44 25.70 28.83

6556 0.48 260.0 274.1 8.7 741 6562 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 1986 1868 0 0 0 0 0 0 28.83 28.83 28.83

6869 0.51 275.6 248.9 7.7 772 6887 0.00 2.28 10.65 0.605 4 0.000 0.056 2407 571 1823 0 0 0 0 0 0 28.83 26.03 25.23

6925 0.54 291.9 244.4 7.7 777 6946 0.05 2.12 14.95 0.608 6 0.162 0.029 2478 1971 1760 0 0 0 0 0 0 26.00 26.08 25.14

7253 0.51 291.9 192.8 16.4 813 7261 0.20 2.17 0.00 0.000 4 0.135 0.032 2410 3391 1746 0 0 0 0 0 0 25.85 26.06 28.83

7271 0.48 291.9 190.3 15.9 815 7278 0.08 2.22 0.00 0.000 6 0.173 0.042 2398 1976 1745 0 0 0 0 0 0 25.89 25.98 28.83

7605 0.52 309.5 164.3 7.7 876 7627 0.08 2.22 14.52 0.556 4 0.120 0.054 2481 570 1684 0 0 0 0 0 0 26.38 26.08 25.35

7684 0.50 309.5 154.3 14.0 889 7692 0.22 2.12 0.00 0.000 6 0.112 0.028 2408 1991 1678 0 0 0 0 0 0 25.85 26.12 28.83

8017 0.53 316.7 126.5 8.0 950 8025 0.00 2.28 1.50 0.184 4 0.000 0.054 2417 567 1664 0 0 0 0 0 0 28.83 26.01 25.61

8061 0.71 432.4 124.3 4.5 957 8165 0.17 2.12 93.82 0.500 6 0.060 0.031 2544 1982 1183 0 0 0 0 0 0 26.20 26.18 24.98

8496 0.77 469.3 43.8 7.0 1033 8529 0.15 2.28 25.08 0.203 4 0.124 0.054 2489 567 1051 0 0 0 0 0 0 25.94 25.87 25.41

8586 0.91 522.2 38.0 6.5 1048 8638 0.12 2.15 45.00 0.192 6 0.056 0.029 2553 1967 829 0 0 0 0 0 0 25.94 26.03 25.41

8964 1.00 522.2 12.2 9.8 1116 8973 0.00 2.20 2.28 0.155 4 0.000 0.038 2553 3389 830 0 0 0 0 0 0 28.83 26.03 25.56

9006 end climb: SURFACE_DEPTH_REACHED

state 9006 begin surface coast

9018 end surface coast: CONTROL_FINISHED_OK

state 9018 begin surface

ID	168	HD_B	0.010078	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	50
DIVE	210	HEADING	-1	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	8	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	8	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1975	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	100	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	4	N_FILEKB	8	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	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	415	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	400	UPLOAD_DIVES_MAX	-1	C_VBD	2954	DEVICE3	35
T_MISSION	450	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	4	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	-5	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-6120.0269	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	175	PITCH_MIN	143	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	2250	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042821765
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PRESSURE_YINT	-64.650215	SEABIRD_T_H	0.00061988086
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.2270933e-05
MASS	51744	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2936731e-06
NAV_MODE	0	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8276911
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1035888
KALMAN_USE	2	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0012978988
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	250	SEABIRD_C_J	0.0001838774

GPS1	251211,064037,1833.284,12221.478,48,1.5,48,-2.1	TGT_NAME	S1
_CALLS	1	TGT_LATLONG	1831.410,12216.350
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.030,-0.310
_SM_DEPTHo	6.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251211,064744,1833.500,12221.327,22,1.6,22,-2.1	MHEAD_RNG_PITCHd_Wd	248.2,9560,-14.1,-8.250
SPEED_LIMITS	0.143,0.261	D_GRID	463

FINISH	6.2,1.021483	_24V_AH	24.4,39.371
SM_CCo	9096,0.00,0.000,0,0,839,519.05	_10V_AH	10.1,33.535
SM_GC	6.62,6.03,2.15,0.00,0.027,0.032,0.000,102,2005,839,-6.56,0.82,519.05,0,0,0,0,0,0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1825.94,12220.08,251211,020207	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	324052
HUMID	43.58	DATA_FILE_SIZE	76760,1125
INTERNAL_PRESSURE	9.50232	CAP_FILE_SIZE	117329,0
TCM_TEMP	23.70	CFSIZE	260165632,201207808
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
ALTIM_BOTTOM_PING	278.7,999.0	GPS	251211,092038,1834.232,12219.071,13,2.0,20,-2.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	197	77.90	SBE_CT	762	24	446.52
Roll_motor	87	113	241.86	AA4330	1771	33	1426.20
VBD_pump_during_apogee	543	725	9618.76	WL_BB2F	918	105	2352.70
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	40	103	102.41	nil	0	0	0.00
Iridium_during_connect	22	160	88.03	nil	0	0	0.00
Iridium_during_xfer	219	223	1194.56	nil	0	0	0.00
Transponder_ping	1	420	17.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	50	13.34
TT8	2520	19	504.02
LPSleep	3524	2	77.96
TT8_Active	578	19	115.76
TT8_Sampling	2585	39	1039.24
TT8_CF8	294	45	136.12
TT8_Kalman	0	0	0.00
Analog_circuits	1618	12	196.18
GPS_charging	0	0	0.00
Compass	2247	15	340.53
RAFOS	0	0	0.00
Transponder	2	30	0.86

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
17	-0.59	-170.3	0.0	0.0	0	77	0.00	0.00	-57.45	0.000	2	0.000	0.000	101	1996	2571	0	0	0	0	0	0	28.83	28.83	28.83
80	-0.59	-170.3	8.1	-4.8	9	113	7.12	2.28	-19.88	0.000	4	0.197	0.047	2041	3437	3652	0	0	0	0	0	0	25.33	25.96	26.36
293	-0.54	-170.3	68.3	-22.7	47	301	0.12	2.20	0.00	0.000	6	0.132	0.042	2079	2025	3653	0	0	0	0	0	0	25.80	25.94	28.83
623	-0.52	-170.3	125.9	-12.6	108	631	0.00	2.25	0.00	0.000	4	0.000	0.053	2079	610	3654	0	0	0	0	0	0	28.83	25.98	28.83
682	-0.52	-170.3	132.6	-10.7	118	690	0.00	2.15	0.00	0.000	6	0.000	0.034	2072	2018	3654	0	0	0	0	0	0	28.83	26.15	28.83
1016	-0.49	-170.3	184.2	-15.0	179	1023	0.10	2.20	0.00	0.000	4	0.155	0.041	2092	3435	3654	0	0	0	0	0	0	26.30	26.14	28.83
1140	-0.50	-170.3	196.5	-9.0	201	1147	0.00	2.15	0.00	0.000	6	0.000	0.034	2093	2020	3654	0	0	0	0	0	0	28.83	26.17	28.83
1458	-0.50	-170.3	229.0	-8.9	235	1466	0.00	2.17	0.00	0.000	4	0.000	0.043	2084	3435	3652	0	0	0	0	0	0	28.83	26.17	28.83
1501	-0.51	-170.3	232.7	-8.5	239	1510	0.00	2.15	0.00	0.000	6	0.000	0.036	2084	2022	3652	0	0	0	0	0	0	28.83	26.17	28.83
1809	-0.51	-170.3	260.1	-9.0	270	1813	0.00	2.22	0.00	0.000	4	0.000	0.054	2083	609	3650	0	0	0	0	0	0	28.83	26.05	28.83
1833	-0.51	-170.3	262.1	-9.2	272	1843	0.00	2.12	0.00	0.000	6	0.000	0.036	2080	2023	3651	0	0	0	0	0	0	28.83	26.23	28.83
2143	-0.50	-170.3	293.7	-11.1	303	2151	0.00	2.15	0.00	0.000	4	0.000	0.041	2071	3428	3648	0	0	0	0	0	0	28.83	26.19	28.83
2187	-0.50	-170.3	298.0	-9.8	307	2196	0.03	2.15	0.00	0.000	6	0.125	0.037	2092	2027	3648	0	0	0	0	0	0	26.07	26.16	28.83
2495	-0.51	-170.3	325.3	-8.9	338	2499	0.00	2.22	0.00	0.000	4	0.000	0.055	2093	614	3646	0	0	0	0	0	0	28.83	26.03	28.83
2558	-0.53	-170.3	330.5	-8.1	344	2562	0.00	2.15	0.00	0.000	6	0.000	0.037	2087	2033	3646	0	0	0	0	0	0	28.83	26.22	28.83
2870	-0.54	-170.3	355.2	-7.5	375	2879	0.00	2.17	0.00	0.000	4	0.000	0.042	2079	3435	3643	0	0	0	0	0	0	28.83	26.17	28.83
2903	-0.55	-170.3	357.7	-7.6	378	2913	0.00	2.15	0.00	0.000	6	0.000	0.036	2078	2024	3643	0	0	0	0	0	0	28.83	26.17	28.83
3213	-0.55	-170.3	383.5	-8.6	409	3214	0.00	0.00	0.00	0.000	6	0.000	0.000	2078	2024	3641	0	0	0	0	0	0	28.83	28.83	28.83
3514	-0.55	-170.3	409.2	-8.3	439	3523	0.00	2.17	0.00	0.000	4	0.000	0.043	2072	3432	3639	0	0	0	0	0	0	28.83	26.15	28.83
3586	-0.57	-170.3	415.2	-8.1	446	3595	0.00	2.17	0.00	0.000	6	0.000	0.037	2072	2022	3638	0	0	0	0	0	0	28.83	26.15	28.83
3897	-0.57	-170.3	444.2	-9.7	477	3905	0.00	2.22	0.00	0.000	4	0.000	0.057	2072	614	3637	0	0	0	0	0	0	28.83	25.97	28.83
3950	-0.58	-170.3	449.4	-10.2	482	3959	0.00	2.15	0.00	0.000	6	0.000	0.037	2069	2024	3636	0	0	0	0	0	0	28.83	26.20	28.83
4086	end dive: TARGET_DEPTH_EXCEEDED
state	4086	begin apogee
4092	-0.22	0.0	463.1	-9.8	496	4228	0.30	0.00	130.98	0.725	6	0.093	0.000	2180	1966	2949	0	0	0	0	0	0	26.09	28.83	24.50
4231	end apogee: CONTROL_FINISHED_OK
state	4231	begin climb
4233	0.59	170.3	470.3	0.0	510	4381	0.68	2.35	135.52	0.711	4	0.052	0.055	2463	576	2250	0	0	0	0	0	0	25.32	25.06	24.37
4444	0.54	170.3	461.2	12.3	531	4454	0.15	2.15	0.00	0.000	6	0.135	0.025	2421	1985	2241	0	0	0	0	0	0	25.29	25.53	28.83
4754	0.51	170.3	429.3	10.6	562	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	1985	2235	0	0	0	0	0	0	28.83	28.83	28.83
5057	0.48	170.3	399.9	9.9	592	5066	0.08	2.12	0.00	0.000	4	0.196	0.032	2403	3384	2233	0	0	0	0	0	0	26.13	26.04	28.83
5171	0.46	170.3	389.0	9.2	603	5180	0.03	2.17	0.00	0.000	6	0.183	0.040	2401	1983	2231	0	0	0	0	0	0	25.86	25.97	28.83
5482	0.45	178.8	365.0	8.0	634	5488	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	1983	2230	0	0	0	0	0	0	28.83	28.83	28.83
5790	0.44	178.8	337.8	9.2	665	5799	0.00	2.20	0.00	0.000	4	0.000	0.053	2412	580	2228	0	0	0	0	0	0	28.83	25.99	28.83
5843	0.42	178.8	332.1	11.3	670	5852	0.08	2.05	0.00	0.000	6	0.113	0.026	2381	1963	2227	0	0	0	0	0	0	25.99	26.25	28.83
6152	0.52	260.0	312.6	5.6	701	6232	0.12	2.33	69.28	0.652	4	0.078	0.057	2483	573	1881	0	0	0	0	0	0	26.44	25.56	24.88
6249	0.48	260.0	302.0	13.7	710	6256	0.28	2.15	0.00	0.000	6	0.122	0.026	2398	1985	1876	0	0	0	0	0	0	25.44	25.70	28.83
6556	0.48	260.0	274.1	8.7	741	6562	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	1986	1868	0	0	0	0	0	0	28.83	28.83	28.83
6869	0.51	275.6	248.9	7.7	772	6887	0.00	2.28	10.65	0.605	4	0.000	0.056	2407	571	1823	0	0	0	0	0	0	28.83	26.03	25.23
6925	0.54	291.9	244.4	7.7	777	6946	0.05	2.12	14.95	0.608	6	0.162	0.029	2478	1971	1760	0	0	0	0	0	0	26.00	26.08	25.14
7253	0.51	291.9	192.8	16.4	813	7261	0.20	2.17	0.00	0.000	4	0.135	0.032	2410	3391	1746	0	0	0	0	0	0	25.85	26.06	28.83
7271	0.48	291.9	190.3	15.9	815	7278	0.08	2.22	0.00	0.000	6	0.173	0.042	2398	1976	1745	0	0	0	0	0	0	25.89	25.98	28.83
7605	0.52	309.5	164.3	7.7	876	7627	0.08	2.22	14.52	0.556	4	0.120	0.054	2481	570	1684	0	0	0	0	0	0	26.38	26.08	25.35
7684	0.50	309.5	154.3	14.0	889	7692	0.22	2.12	0.00	0.000	6	0.112	0.028	2408	1991	1678	0	0	0	0	0	0	25.85	26.12	28.83
8017	0.53	316.7	126.5	8.0	950	8025	0.00	2.28	1.50	0.184	4	0.000	0.054	2417	567	1664	0	0	0	0	0	0	28.83	26.01	25.61
8061	0.71	432.4	124.3	4.5	957	8165	0.17	2.12	93.82	0.500	6	0.060	0.031	2544	1982	1183	0	0	0	0	0	0	26.20	26.18	24.98
8496	0.77	469.3	43.8	7.0	1033	8529	0.15	2.28	25.08	0.203	4	0.124	0.054	2489	567	1051	0	0	0	0	0	0	25.94	25.87	25.41
8586	0.91	522.2	38.0	6.5	1048	8638	0.12	2.15	45.00	0.192	6	0.056	0.029	2553	1967	829	0	0	0	0	0	0	25.94	26.03	25.41
8964	1.00	522.2	12.2	9.8	1116	8973	0.00	2.20	2.28	0.155	4	0.000	0.038	2553	3389	830	0	0	0	0	0	0	28.83	26.03	25.56
9006	end climb: SURFACE_DEPTH_REACHED
state	9006	begin surface coast
9018	end surface coast: CONTROL_FINISHED_OK
state	9018	begin surface