Glider dive log

OKMC Nov11 * SG165 * Dive index * Mission links * Dive 274 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 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 50

DIVE 274 HEADING -1 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3692 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 11 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 11 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1955 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1990 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 3 SM_CC 450 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.85000002

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 485 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE2 53

T_DIVE 300 UPLOAD_DIVES_MAX -1 C_VBD 2786 DEVICE3 35

T_MISSION 340 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 4 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 -271755.09 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

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 -5 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 180 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3922 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2950 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043567759

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -57.316994 SEABIRD_T_H 0.00062679156

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000116182 SEABIRD_T_I 2.4204959e-05

MASS 51872 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6176024e-06

NAV_MODE 0 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.134539

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1435308

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0010041125

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 250 SEABIRD_C_J 0.00016055659

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 250 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_SURF 11 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 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 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3922 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 180 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.000116182 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -57.316994 T_DIVE 300

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -271755.09

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 340

COMPASS_DEVICE 33 ID 165 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 0.85000002 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2950 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1990 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1955 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2786 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3692 USE_BATHY -8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51872 ROLL_MIN 200 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT 52 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 49 VBD_MAX 3959

DEVICE5 -1 MISSION 5 SEABIRD_C_G -10.134539 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1435308 VBD_MIN 485

DIVE 274 NAV_MODE 0 SEABIRD_C_I -0.0010041125 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.00016055659 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.0043567759 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062679156 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.4204959e-05 XPDR_INHIBIT 90

D_FLARE 11 N_NOCOMM 3 SEABIRD_T_J 2.6176024e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 130112,181307,2208.467,12031.735,35,1.1,36,-2.7 TGT_NAME W2

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,-0.266

_SM_DEPTHo 7.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130112,181832,2208.448,12031.717,12,1.2,12,-2.7 MHEAD_RNG_PITCHd_Wd 234.2,69730,-17.0,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 492

Post-dive calculations and measurements:

FINISH 6.5,1.023203 _24V_AH 24.2,61.309

SM_CCo 8419,23.95,0.552,0,0,950,450.13 _10V_AH 9.9,49.441

SM_GC 7.29,7.90,0.00,23.95,0.031,0.000,0.552,152,1963,950,-8.63,0.23,450.13,0,0,0,0,0,0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2159.71,12033.48,130112,151523 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023968,0.023968 MEM 324000

HUMID 46.41 DATA_FILE_SIZE 63494,1077

INTERNAL_PRESSURE 9.42455 CAP_FILE_SIZE 112368,0

TCM_TEMP 23.50 CFSIZE 260165632,175583232

XPDR_PINGS 23 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 295.4,0.0 GPS 130112,204026,2208.239,12031.094,9,1.8,10,-2.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 234 118.64 SBE_CT 722 24 419.66

Roll_motor 82 52 104.97 AA3830 818 33 653.45

VBD_pump_during_apogee 497 933 11227.43 WL_BB2F 920 105 2339.79

VBD_pump_during_surface 23 551 319.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 69.52 nil 0 0 0.00

Iridium_during_connect 19 160 75.70 nil 0 0 0.00

Iridium_during_xfer 155 223 837.78 nil 0 0 0.00

Transponder_ping 6 420 60.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.53

TT8 2390 19 468.51

LPSleep 3081 2 66.80

TT8_Active 606 19 118.96

TT8_Sampling 2416 39 952.26

TT8_CF8 269 45 122.00

TT8_Kalman 0 0 0.00

Analog_circuits 1610 12 191.34

GPS_charging 0 0 0.00

Compass 2207 15 327.77

RAFOS 0 0 0.00

Transponder 3 30 0.91

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 -0.81 -194.6 0.0 0.0 0 114 0.00 0.00 -94.88 0.000 2 0.000 0.000 123 2017 3304 0 0 0 0 0 0 28.83 28.83 28.83

117 -0.81 -194.6 11.5 -12.3 15 138 10.20 2.12 -4.68 0.000 4 0.235 0.053 2673 3360 3582 0 0 0 0 0 0 25.22 26.15 26.54

310 -0.74 -194.6 66.3 -24.8 50 318 0.10 2.15 0.00 0.000 6 0.145 0.031 2706 1946 3584 0 0 0 0 0 0 25.96 26.28 28.83

645 -0.70 -194.6 132.3 -16.4 111 651 0.00 2.15 0.00 0.000 4 0.000 0.047 2706 551 3585 0 0 0 0 0 0 28.83 26.23 28.83

702 -0.67 -194.6 142.2 -17.3 121 710 0.12 2.12 0.00 0.000 6 0.168 0.036 2731 1949 3585 0 0 0 0 0 0 26.04 26.30 28.83

1032 -0.67 -194.6 189.1 -11.6 182 1039 0.00 2.20 0.00 0.000 4 0.000 0.047 2726 3353 3586 0 0 0 0 0 0 28.83 26.25 28.83

1087 -0.69 -194.6 194.9 -11.1 191 1094 0.00 2.10 0.00 0.000 6 0.000 0.031 2726 1953 3586 0 0 0 0 0 0 28.83 26.36 28.83

1398 -0.69 -194.6 226.1 -12.1 226 1408 0.00 2.12 0.00 0.000 4 0.000 0.048 2726 561 3586 0 0 0 0 0 0 28.83 26.25 28.83

1445 -0.70 -194.6 231.5 -12.3 230 1453 0.00 2.15 0.00 0.000 6 0.000 0.037 2726 1951 3587 0 0 0 0 0 0 28.83 26.32 28.83

1752 -0.70 -194.6 268.2 -12.0 261 1760 0.00 2.17 0.00 0.000 4 0.000 0.048 2726 3361 3586 0 0 0 0 0 0 28.83 26.25 28.83

1859 -0.72 -194.6 280.0 -10.6 271 1867 0.00 2.10 0.00 0.000 6 0.000 0.031 2726 1955 3587 0 0 0 0 0 0 28.83 26.36 28.83

2167 -0.74 -194.6 311.0 -9.9 302 2176 0.00 2.12 0.00 0.000 4 0.000 0.049 2726 560 3587 0 0 0 0 0 0 28.83 26.24 28.83

2239 -0.76 -194.6 317.6 -9.4 309 2248 0.00 2.15 0.00 0.000 6 0.000 0.037 2725 1958 3587 0 0 0 0 0 0 28.83 26.32 28.83

2550 -0.77 -194.6 349.3 -10.5 340 2559 0.00 2.17 0.00 0.000 4 0.000 0.049 2725 3362 3586 0 0 0 0 0 0 28.83 26.22 28.83

2625 -0.81 -194.6 356.8 -10.4 347 2633 0.12 2.12 0.00 0.000 6 0.086 0.031 2651 1949 3585 0 0 0 0 0 0 26.32 26.36 28.83

2933 -0.77 -194.6 400.8 -11.7 378 2942 0.15 2.20 0.00 0.000 4 0.161 0.045 2689 3370 3583 0 0 0 0 0 0 26.15 26.24 28.83

3018 -0.77 -194.6 409.0 -9.1 386 3025 0.00 2.12 0.00 0.000 6 0.000 0.032 2689 1959 3583 0 0 0 0 0 0 28.83 26.35 28.83

3325 -0.76 -194.6 442.7 -11.1 417 3334 0.00 2.20 0.00 0.000 4 0.000 0.049 2681 3368 3582 0 0 0 0 0 0 28.83 26.21 28.83

3347 -0.74 -194.6 445.1 -10.3 419 3356 0.00 2.12 0.00 0.000 6 0.000 0.031 2681 1952 3581 0 0 0 0 0 0 28.83 26.36 28.83

3657 -0.73 -194.6 482.7 -14.5 450 3659 0.12 0.00 0.00 0.000 6 0.161 0.000 2714 1952 3581 0 0 0 0 0 0 26.27 28.83 28.83

3744 end dive: TARGET_DEPTH_EXCEEDED

state 3745 begin apogee

3750 -0.17 0.0 492.8 -11.3 459 3910 0.50 0.00 150.60 0.933 6 0.112 0.000 2887 1952 2785 0 0 0 0 0 0 25.94 28.83 24.18

3911 end apogee: CONTROL_FINISHED_OK

state 3911 begin climb

3913 0.81 194.6 500.3 0.0 475 4079 0.85 2.20 155.60 0.907 4 0.061 0.050 3225 601 1990 0 0 0 0 0 0 25.42 25.22 24.18

4085 0.74 194.6 487.0 13.3 492 4092 0.15 2.22 0.00 0.000 6 0.151 0.038 3187 1995 1987 0 0 0 0 0 0 25.27 25.43 28.83

4394 0.69 194.6 439.8 14.1 523 4402 0.00 2.15 0.00 0.000 4 0.000 0.045 3186 3390 1984 0 0 0 0 0 0 28.83 26.14 28.83

4570 0.64 194.6 413.4 13.6 540 4578 0.15 2.12 0.00 0.000 6 0.164 0.034 3155 1995 1982 0 0 0 0 0 0 25.97 26.28 28.83

4878 0.62 197.5 378.8 10.9 571 4887 0.00 2.20 0.00 0.000 4 0.000 0.044 3155 3399 1982 0 0 0 0 0 0 28.83 26.25 28.83

5034 0.59 197.5 359.7 13.3 586 5041 0.00 2.15 0.00 0.000 6 0.000 0.035 3162 1982 1981 0 0 0 0 0 0 28.83 26.31 28.83

5341 0.56 197.5 322.6 11.3 617 5351 0.12 2.15 0.00 0.000 4 0.165 0.045 3132 598 1980 0 0 0 0 0 0 26.21 26.25 28.83

5384 0.61 241.9 318.7 9.3 621 5428 0.00 2.12 38.62 0.821 6 0.000 0.031 3132 1998 1799 0 0 0 0 0 0 28.83 26.34 24.63

5730 0.64 265.7 285.4 10.1 655 5759 0.00 2.20 20.90 0.776 4 0.000 0.046 3132 3393 1701 0 0 0 0 0 0 28.83 25.95 24.75

5785 0.64 265.7 279.3 11.7 660 5793 0.00 2.17 0.00 0.000 6 0.000 0.038 3142 2006 1701 0 0 0 0 0 0 28.83 26.03 28.83

6093 0.64 265.7 243.3 11.4 691 6101 0.00 2.20 0.00 0.000 4 0.000 0.047 3152 584 1700 0 0 0 0 0 0 28.83 26.17 28.83

6137 0.65 267.4 238.6 10.9 695 6145 0.00 2.12 0.00 0.000 6 0.000 0.031 3152 1993 1698 0 0 0 0 0 0 28.83 26.29 28.83

6444 0.65 267.4 201.6 12.7 726 6455 0.00 2.17 0.00 0.000 4 0.000 0.044 3152 3398 1698 0 0 0 0 0 0 28.83 26.22 28.83

6574 0.70 299.2 187.4 9.8 748 6613 0.00 2.17 29.00 0.730 6 0.000 0.033 3161 1972 1564 0 0 0 0 0 0 28.83 26.31 24.81

6936 0.78 348.8 161.1 9.1 814 6988 0.12 2.30 41.75 0.705 4 0.089 0.041 3240 3393 1363 0 0 0 0 0 0 26.39 25.80 24.73

7012 0.76 348.8 149.4 17.5 826 7020 0.15 2.17 0.00 0.000 6 0.126 0.034 3199 2009 1363 0 0 0 0 0 0 25.67 25.93 28.83

7348 0.78 348.8 113.5 11.1 887 7355 0.00 2.20 0.00 0.000 4 0.000 0.046 3207 580 1361 0 0 0 0 0 0 28.83 26.15 28.83

7463 0.81 360.5 100.6 10.6 908 7483 0.00 2.15 10.82 0.594 6 0.000 0.030 3207 1992 1315 0 0 0 0 0 0 28.83 26.31 24.86

7810 0.84 371.7 64.4 10.6 971 7830 0.00 2.20 10.77 0.567 4 0.000 0.042 3207 3393 1269 0 0 0 0 0 0 28.83 26.18 24.91

7903 0.87 371.7 54.1 11.6 987 7910 0.00 2.15 0.00 0.000 6 0.000 0.032 3216 1968 1268 0 0 0 0 0 0 28.83 26.24 28.83

8232 0.94 419.6 21.6 9.2 1048 8280 0.10 0.00 39.03 0.577 6 0.101 0.000 3281 1968 1073 0 0 0 0 0 0 26.48 28.83 24.94

8312 end climb: SURFACE_DEPTH_REACHED

state 8313 begin surface coast

8401 end surface coast: CONTROL_FINISHED_OK

state 8401 begin surface

ID	165	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	50
DIVE	274	HEADING	-1	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3692	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	11	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	11	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1955	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1990	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	3	SM_CC	450	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.85000002
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	485	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE2	53
T_DIVE	300	UPLOAD_DIVES_MAX	-1	C_VBD	2786	DEVICE3	35
T_MISSION	340	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	4	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	-271755.09	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
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	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	180	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3922	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2950	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043567759
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-57.316994	SEABIRD_T_H	0.00062679156
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000116182	SEABIRD_T_I	2.4204959e-05
MASS	51872	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6176024e-06
NAV_MODE	0	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.134539
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1435308
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0010041125
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	250	SEABIRD_C_J	0.00016055659

GPS1	130112,181307,2208.467,12031.735,35,1.1,36,-2.7	TGT_NAME	W2
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,-0.266
_SM_DEPTHo	7.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130112,181832,2208.448,12031.717,12,1.2,12,-2.7	MHEAD_RNG_PITCHd_Wd	234.2,69730,-17.0,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	492

FINISH	6.5,1.023203	_24V_AH	24.2,61.309
SM_CCo	8419,23.95,0.552,0,0,950,450.13	_10V_AH	9.9,49.441
SM_GC	7.29,7.90,0.00,23.95,0.031,0.000,0.552,152,1963,950,-8.63,0.23,450.13,0,0,0,0,0,0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2159.71,12033.48,130112,151523	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023968,0.023968	MEM	324000
HUMID	46.41	DATA_FILE_SIZE	63494,1077
INTERNAL_PRESSURE	9.42455	CAP_FILE_SIZE	112368,0
TCM_TEMP	23.50	CFSIZE	260165632,175583232
XPDR_PINGS	23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	295.4,0.0	GPS	130112,204026,2208.239,12031.094,9,1.8,10,-2.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	234	118.64	SBE_CT	722	24	419.66
Roll_motor	82	52	104.97	AA3830	818	33	653.45
VBD_pump_during_apogee	497	933	11227.43	WL_BB2F	920	105	2339.79
VBD_pump_during_surface	23	551	319.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	69.52	nil	0	0	0.00
Iridium_during_connect	19	160	75.70	nil	0	0	0.00
Iridium_during_xfer	155	223	837.78	nil	0	0	0.00
Transponder_ping	6	420	60.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.53
TT8	2390	19	468.51
LPSleep	3081	2	66.80
TT8_Active	606	19	118.96
TT8_Sampling	2416	39	952.26
TT8_CF8	269	45	122.00
TT8_Kalman	0	0	0.00
Analog_circuits	1610	12	191.34
GPS_charging	0	0	0.00
Compass	2207	15	327.77
RAFOS	0	0	0.00
Transponder	3	30	0.91

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	-0.81	-194.6	0.0	0.0	0	114	0.00	0.00	-94.88	0.000	2	0.000	0.000	123	2017	3304	0	0	0	0	0	0	28.83	28.83	28.83
117	-0.81	-194.6	11.5	-12.3	15	138	10.20	2.12	-4.68	0.000	4	0.235	0.053	2673	3360	3582	0	0	0	0	0	0	25.22	26.15	26.54
310	-0.74	-194.6	66.3	-24.8	50	318	0.10	2.15	0.00	0.000	6	0.145	0.031	2706	1946	3584	0	0	0	0	0	0	25.96	26.28	28.83
645	-0.70	-194.6	132.3	-16.4	111	651	0.00	2.15	0.00	0.000	4	0.000	0.047	2706	551	3585	0	0	0	0	0	0	28.83	26.23	28.83
702	-0.67	-194.6	142.2	-17.3	121	710	0.12	2.12	0.00	0.000	6	0.168	0.036	2731	1949	3585	0	0	0	0	0	0	26.04	26.30	28.83
1032	-0.67	-194.6	189.1	-11.6	182	1039	0.00	2.20	0.00	0.000	4	0.000	0.047	2726	3353	3586	0	0	0	0	0	0	28.83	26.25	28.83
1087	-0.69	-194.6	194.9	-11.1	191	1094	0.00	2.10	0.00	0.000	6	0.000	0.031	2726	1953	3586	0	0	0	0	0	0	28.83	26.36	28.83
1398	-0.69	-194.6	226.1	-12.1	226	1408	0.00	2.12	0.00	0.000	4	0.000	0.048	2726	561	3586	0	0	0	0	0	0	28.83	26.25	28.83
1445	-0.70	-194.6	231.5	-12.3	230	1453	0.00	2.15	0.00	0.000	6	0.000	0.037	2726	1951	3587	0	0	0	0	0	0	28.83	26.32	28.83
1752	-0.70	-194.6	268.2	-12.0	261	1760	0.00	2.17	0.00	0.000	4	0.000	0.048	2726	3361	3586	0	0	0	0	0	0	28.83	26.25	28.83
1859	-0.72	-194.6	280.0	-10.6	271	1867	0.00	2.10	0.00	0.000	6	0.000	0.031	2726	1955	3587	0	0	0	0	0	0	28.83	26.36	28.83
2167	-0.74	-194.6	311.0	-9.9	302	2176	0.00	2.12	0.00	0.000	4	0.000	0.049	2726	560	3587	0	0	0	0	0	0	28.83	26.24	28.83
2239	-0.76	-194.6	317.6	-9.4	309	2248	0.00	2.15	0.00	0.000	6	0.000	0.037	2725	1958	3587	0	0	0	0	0	0	28.83	26.32	28.83
2550	-0.77	-194.6	349.3	-10.5	340	2559	0.00	2.17	0.00	0.000	4	0.000	0.049	2725	3362	3586	0	0	0	0	0	0	28.83	26.22	28.83
2625	-0.81	-194.6	356.8	-10.4	347	2633	0.12	2.12	0.00	0.000	6	0.086	0.031	2651	1949	3585	0	0	0	0	0	0	26.32	26.36	28.83
2933	-0.77	-194.6	400.8	-11.7	378	2942	0.15	2.20	0.00	0.000	4	0.161	0.045	2689	3370	3583	0	0	0	0	0	0	26.15	26.24	28.83
3018	-0.77	-194.6	409.0	-9.1	386	3025	0.00	2.12	0.00	0.000	6	0.000	0.032	2689	1959	3583	0	0	0	0	0	0	28.83	26.35	28.83
3325	-0.76	-194.6	442.7	-11.1	417	3334	0.00	2.20	0.00	0.000	4	0.000	0.049	2681	3368	3582	0	0	0	0	0	0	28.83	26.21	28.83
3347	-0.74	-194.6	445.1	-10.3	419	3356	0.00	2.12	0.00	0.000	6	0.000	0.031	2681	1952	3581	0	0	0	0	0	0	28.83	26.36	28.83
3657	-0.73	-194.6	482.7	-14.5	450	3659	0.12	0.00	0.00	0.000	6	0.161	0.000	2714	1952	3581	0	0	0	0	0	0	26.27	28.83	28.83
3744	end dive: TARGET_DEPTH_EXCEEDED
state	3745	begin apogee
3750	-0.17	0.0	492.8	-11.3	459	3910	0.50	0.00	150.60	0.933	6	0.112	0.000	2887	1952	2785	0	0	0	0	0	0	25.94	28.83	24.18
3911	end apogee: CONTROL_FINISHED_OK
state	3911	begin climb
3913	0.81	194.6	500.3	0.0	475	4079	0.85	2.20	155.60	0.907	4	0.061	0.050	3225	601	1990	0	0	0	0	0	0	25.42	25.22	24.18
4085	0.74	194.6	487.0	13.3	492	4092	0.15	2.22	0.00	0.000	6	0.151	0.038	3187	1995	1987	0	0	0	0	0	0	25.27	25.43	28.83
4394	0.69	194.6	439.8	14.1	523	4402	0.00	2.15	0.00	0.000	4	0.000	0.045	3186	3390	1984	0	0	0	0	0	0	28.83	26.14	28.83
4570	0.64	194.6	413.4	13.6	540	4578	0.15	2.12	0.00	0.000	6	0.164	0.034	3155	1995	1982	0	0	0	0	0	0	25.97	26.28	28.83
4878	0.62	197.5	378.8	10.9	571	4887	0.00	2.20	0.00	0.000	4	0.000	0.044	3155	3399	1982	0	0	0	0	0	0	28.83	26.25	28.83
5034	0.59	197.5	359.7	13.3	586	5041	0.00	2.15	0.00	0.000	6	0.000	0.035	3162	1982	1981	0	0	0	0	0	0	28.83	26.31	28.83
5341	0.56	197.5	322.6	11.3	617	5351	0.12	2.15	0.00	0.000	4	0.165	0.045	3132	598	1980	0	0	0	0	0	0	26.21	26.25	28.83
5384	0.61	241.9	318.7	9.3	621	5428	0.00	2.12	38.62	0.821	6	0.000	0.031	3132	1998	1799	0	0	0	0	0	0	28.83	26.34	24.63
5730	0.64	265.7	285.4	10.1	655	5759	0.00	2.20	20.90	0.776	4	0.000	0.046	3132	3393	1701	0	0	0	0	0	0	28.83	25.95	24.75
5785	0.64	265.7	279.3	11.7	660	5793	0.00	2.17	0.00	0.000	6	0.000	0.038	3142	2006	1701	0	0	0	0	0	0	28.83	26.03	28.83
6093	0.64	265.7	243.3	11.4	691	6101	0.00	2.20	0.00	0.000	4	0.000	0.047	3152	584	1700	0	0	0	0	0	0	28.83	26.17	28.83
6137	0.65	267.4	238.6	10.9	695	6145	0.00	2.12	0.00	0.000	6	0.000	0.031	3152	1993	1698	0	0	0	0	0	0	28.83	26.29	28.83
6444	0.65	267.4	201.6	12.7	726	6455	0.00	2.17	0.00	0.000	4	0.000	0.044	3152	3398	1698	0	0	0	0	0	0	28.83	26.22	28.83
6574	0.70	299.2	187.4	9.8	748	6613	0.00	2.17	29.00	0.730	6	0.000	0.033	3161	1972	1564	0	0	0	0	0	0	28.83	26.31	24.81
6936	0.78	348.8	161.1	9.1	814	6988	0.12	2.30	41.75	0.705	4	0.089	0.041	3240	3393	1363	0	0	0	0	0	0	26.39	25.80	24.73
7012	0.76	348.8	149.4	17.5	826	7020	0.15	2.17	0.00	0.000	6	0.126	0.034	3199	2009	1363	0	0	0	0	0	0	25.67	25.93	28.83
7348	0.78	348.8	113.5	11.1	887	7355	0.00	2.20	0.00	0.000	4	0.000	0.046	3207	580	1361	0	0	0	0	0	0	28.83	26.15	28.83
7463	0.81	360.5	100.6	10.6	908	7483	0.00	2.15	10.82	0.594	6	0.000	0.030	3207	1992	1315	0	0	0	0	0	0	28.83	26.31	24.86
7810	0.84	371.7	64.4	10.6	971	7830	0.00	2.20	10.77	0.567	4	0.000	0.042	3207	3393	1269	0	0	0	0	0	0	28.83	26.18	24.91
7903	0.87	371.7	54.1	11.6	987	7910	0.00	2.15	0.00	0.000	6	0.000	0.032	3216	1968	1268	0	0	0	0	0	0	28.83	26.24	28.83
8232	0.94	419.6	21.6	9.2	1048	8280	0.10	0.00	39.03	0.577	6	0.101	0.000	3281	1968	1073	0	0	0	0	0	0	26.48	28.83	24.94
8312	end climb: SURFACE_DEPTH_REACHED
state	8313	begin surface coast
8401	end surface coast: CONTROL_FINISHED_OK
state	8401	begin surface