Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 30 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2800 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 66 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 554.9259 R_STBD_OVSHOOT 40 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 350 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -7 T_GPS_CHARGE -974732.88 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 0 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 554.9259

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 9 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974732.88

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 350

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2800 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 66 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 40 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 30 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 240613,230735,2200.745,12029.349,39,1.4,39,-3.1 TGT_NAME T1

_CALLS 1 TGT_LATLONG 2200.000,12024.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240613,231311,2200.670,12029.307,5,1.4,5,-3.1 MHEAD_RNG_PITCHd_Wd 265.3,9196,-15.7,-10.000,-18.68,2978

SPEED_LIMITS 0.173,0.296 D_GRID 785

Post-dive calculations and measurements:

FINISH 0.8,1.012149 _24V_AH 23.9,3.647

SM_CCo 7527,72.07,0.133,0,0,500,555.11 _10V_AH 10.3,2.973

SM_GC 1.56,9.10,1.25,72.07,0.036,0.030,0.133,141,1947,500,-9.14,2.74,555.11,0,0,0,0,0,0,26.42,26.44,26.15 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2152.74,12031.12,240613,222208 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 324568

HUMID 60.63 DATA_FILE_SIZE 13449,379

INTERNAL_PRESSURE 9.44372 CAP_FILE_SIZE 97214,0

TCM_TEMP 23.90 CFSIZE 260034560,247214080

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

SC_FREEKB 7704672 GPS 250613,012135,2200.652,12027.989,32,1.1,32,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 242 128.96 nil 0 0 0.00

Roll_motor 60 44 63.84 nil 0 0 0.00

VBD_pump_during_apogee 436 1256 13110.87 nil 0 0 0.00

VBD_pump_during_surface 72 133 229.29 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 7507 17 3142.85

Iridium_during_xfer 182 113 495.06 nil 0 0 0.00

Transponder_ping 0 420 7.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 3.32

TT8 1275 13 183.42

LPSleep 4472 2 100.89

TT8_Active 546 13 78.56

TT8_Sampling 1328 40 549.70

TT8_CF8 323 47 158.68

TT8_Kalman 0 0 0.00

Analog_circuits 1399 16 230.63

GPS_charging 0 0 0.00

Compass 1113 5 57.34

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.16 -194.6 112 1909 420 583 0.0 0.0 0 115 0.00 0.00 -87.28 0.000 16386 0.000 0.000 112 1910 2687 2664 2711 0 0 0 0 0 0 28.83 28.83 28.83

123 -1.16 -194.6 112 1910 2664 2712 3.8 -7.5 16 154 10.23 2.10 -13.73 0.000 18948 0.243 0.043 2701 503 3561 3556 3566 0 0 0 0 0 0 26.19 26.44 26.68

190 -1.16 -194.6 2701 503 3556 3567 32.5 -43.4 25 197 0.00 2.03 0.00 0.000 1030 0.000 0.018 2692 1933 3561 3556 3567 0 0 0 0 0 0 28.83 26.48 28.83

496 -1.16 -194.6 2692 1933 3558 3567 133.0 -32.9 43 501 0.00 1.98 0.00 0.000 260 0.000 0.031 2682 3305 3562 3558 3567 0 0 0 0 0 0 28.83 26.60 28.83

612 -1.16 -194.6 2682 3304 3558 3567 165.4 -29.9 48 618 0.00 2.00 0.00 0.000 1030 0.000 0.023 2682 1902 3562 3558 3567 0 0 0 0 0 0 28.83 26.65 28.83

927 -1.16 -194.6 2681 1901 3559 3567 241.9 -22.0 64 932 0.00 2.05 0.00 0.000 260 0.000 0.035 2672 3293 3563 3559 3567 0 0 0 0 0 0 28.83 26.69 28.83

1054 -1.16 -194.6 2671 3293 3559 3567 273.3 -26.4 70 1060 0.15 2.00 0.00 0.000 3078 0.177 0.021 2710 1883 3563 3559 3567 0 0 0 0 0 0 26.57 26.73 28.83

1380 -1.16 -194.6 2709 1883 3559 3565 339.1 -21.3 86 1385 0.00 1.98 0.00 0.000 516 0.000 0.031 2710 507 3562 3560 3564 0 0 0 0 0 0 28.83 26.74 28.83

1474 -1.16 -194.6 2709 507 3559 3563 359.5 -24.3 90 1479 0.00 1.95 0.00 0.000 1030 0.000 0.017 2702 1903 3561 3559 3563 0 0 0 0 0 0 28.83 26.77 28.83

1788 -1.16 -194.6 2700 1905 3562 3556 426.0 -18.8 106 1793 0.00 2.03 0.00 0.000 260 0.000 0.035 2697 3293 3559 3562 3556 0 0 0 0 0 0 28.83 26.74 28.83

1827 -1.16 -194.6 2697 3293 3562 3555 430.5 -18.7 107 1834 0.00 1.98 0.00 0.000 1030 0.000 0.019 2697 1890 3558 3562 3555 0 0 0 0 0 0 28.83 26.77 28.83

2134 -1.16 -194.6 2697 1890 3562 3549 494.7 -19.2 123 2139 0.00 1.98 0.00 0.000 516 0.000 0.032 2697 512 3555 3562 3549 0 0 0 0 0 0 28.83 26.76 28.83

2193 -1.16 -194.6 2697 512 3562 3548 503.4 -19.3 125 2199 0.00 1.95 0.00 0.000 1030 0.000 0.018 2688 1897 3555 3562 3548 0 0 0 0 0 0 28.83 26.79 28.83

2499 -1.16 -194.6 2687 1897 3562 3542 565.5 -20.5 141 2500 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1897 3552 3562 3542 0 0 0 0 0 0 28.83 28.83 28.83

2821 -1.16 -194.6 2687 1897 3561 3537 624.3 -18.2 155 2827 0.00 2.05 0.00 0.000 260 0.000 0.036 2683 3288 3549 3562 3537 0 0 0 0 0 0 28.83 26.76 28.83

2865 -1.16 -194.6 2683 3288 3561 3536 631.3 -18.5 156 2870 0.00 1.98 0.00 0.000 1030 0.000 0.019 2684 1898 3548 3562 3535 0 0 0 0 0 0 28.83 26.80 28.83

3193 -1.16 -194.6 2683 1898 3561 3531 696.7 -19.4 167 3198 0.00 2.00 0.00 0.000 516 0.000 0.032 2683 512 3546 3562 3530 0 0 0 0 0 0 28.83 26.77 28.83

3221 -1.16 -194.6 2683 510 3562 3530 696.7 -19.4 167 3229 0.12 1.98 0.00 0.000 3078 0.184 0.019 2706 1902 3546 3562 3530 0 0 0 0 0 0 26.64 26.79 28.83

3531 -1.16 -194.6 2705 1902 3561 3524 760.6 -18.1 178 3536 0.00 2.03 0.00 0.000 516 0.000 0.031 2706 509 3543 3562 3524 0 0 0 0 0 0 28.83 26.77 28.83

3560 -1.16 -194.6 2705 509 3562 3524 760.6 -18.1 178 3567 0.00 2.00 0.00 0.000 1030 0.000 0.018 2698 1910 3543 3562 3524 0 0 0 0 0 0 28.83 26.79 28.83

3682 end dive: TARGET_DEPTH_EXCEEDED

state 3683 begin apogee

3692 -0.19 0.0 2696 2786 3561 3522 786.2 -15.8 183 3880 1.00 0.00 175.20 1.257 10246 0.142 0.000 3019 2787 2766 2832 2700 0 0 0 0 1 0 26.63 28.83 23.86

3882 end apogee: CONTROL_FINISHED_OK

state 3882 begin climb

3885 1.16 194.6 3019 2787 2832 2707 793.8 0.0 189 4066 1.17 2.17 170.57 1.005 10756 0.033 0.028 3486 1416 1957 2051 1864 0 0 0 0 0 0 25.04 24.98 24.34

4215 1.16 194.6 3485 1415 2041 1846 733.5 25.0 200 4221 0.00 2.12 0.00 0.000 1030 0.000 0.031 3486 2804 1943 2041 1845 0 0 0 0 0 0 28.83 25.92 28.83

4538 1.16 194.6 3485 2804 2041 1840 646.1 26.0 211 4543 0.00 1.48 0.00 0.000 260 0.000 0.044 3485 3759 1940 2041 1840 0 0 0 0 0 0 28.83 26.32 28.83

4773 1.16 194.6 3485 3759 2036 1838 584.4 27.8 219 4779 0.08 1.40 0.00 0.000 5126 0.194 0.024 3457 2797 1938 2037 1839 0 0 0 0 0 0 26.29 26.50 28.83

5089 1.16 194.6 3457 2797 2036 1837 502.6 23.6 235 5094 0.00 1.50 0.00 0.000 260 0.000 0.042 3457 3759 1936 2036 1837 0 0 0 0 0 0 28.83 26.53 28.83

5325 1.16 194.6 3457 3759 2036 1835 447.7 24.0 246 5330 0.00 1.40 0.00 0.000 1030 0.000 0.024 3463 2791 1936 2037 1835 0 0 0 0 0 0 28.83 26.63 28.83

5639 1.16 194.6 3463 2786 2037 1833 372.6 24.6 262 5644 0.00 1.50 0.00 0.000 260 0.000 0.041 3463 3758 1935 2037 1833 0 0 0 0 0 0 28.83 26.61 28.83

5846 1.16 194.6 3463 3757 2036 1833 319.5 26.3 272 5851 0.00 1.40 0.00 0.000 1030 0.000 0.024 3470 2794 1934 2036 1832 0 0 0 0 0 0 28.83 26.70 28.83

6170 1.16 194.6 3470 2792 2037 1831 242.8 20.7 288 6175 0.00 1.50 0.00 0.000 260 0.000 0.041 3470 3763 1934 2037 1832 0 0 0 0 0 0 28.83 26.66 28.83

6195 1.16 194.6 3470 3763 2036 1832 237.4 20.8 289 6200 0.00 1.40 0.00 0.000 1030 0.000 0.024 3477 2800 1935 2038 1832 0 0 0 0 0 0 28.83 26.72 28.83

6520 1.16 194.6 3477 2799 2037 1831 166.0 22.9 305 6525 0.00 1.50 0.00 0.000 260 0.000 0.041 3478 3768 1934 2037 1831 0 0 0 0 0 0 28.83 26.68 28.83

6755 1.16 194.6 3477 3767 2036 1830 114.1 22.1 316 6760 0.00 1.40 0.00 0.000 1030 0.000 0.022 3485 2784 1933 2037 1830 0 0 0 0 0 0 28.83 26.75 28.83

7070 1.16 194.6 3485 2780 2036 1829 60.0 15.3 332 7075 0.00 1.50 0.00 0.000 260 0.000 0.041 3485 3760 1933 2037 1829 0 0 0 0 0 0 28.83 26.70 28.83

7306 1.82 414.2 3485 3760 2037 1829 40.7 2.4 351 7408 0.40 1.35 90.68 0.213 11270 0.037 0.021 3697 2787 1071 1073 1070 0 0 0 0 0 0 26.73 26.78 26.16

7492 end climb: SURFACE_DEPTH_REACHED

state 7492 begin surface coast

7503 end surface coast: CONTROL_FINISHED_OK

state 7504 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	30	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2800	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	66	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	554.9259	R_STBD_OVSHOOT	40	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	350	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-7	T_GPS_CHARGE	-974732.88	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	0	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	240613,230735,2200.745,12029.349,39,1.4,39,-3.1	TGT_NAME	T1
_CALLS	1	TGT_LATLONG	2200.000,12024.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240613,231311,2200.670,12029.307,5,1.4,5,-3.1	MHEAD_RNG_PITCHd_Wd	265.3,9196,-15.7,-10.000,-18.68,2978
SPEED_LIMITS	0.173,0.296	D_GRID	785

FINISH	0.8,1.012149	_24V_AH	23.9,3.647
SM_CCo	7527,72.07,0.133,0,0,500,555.11	_10V_AH	10.3,2.973
SM_GC	1.56,9.10,1.25,72.07,0.036,0.030,0.133,141,1947,500,-9.14,2.74,555.11,0,0,0,0,0,0,26.42,26.44,26.15	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2152.74,12031.12,240613,222208	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	324568
HUMID	60.63	DATA_FILE_SIZE	13449,379
INTERNAL_PRESSURE	9.44372	CAP_FILE_SIZE	97214,0
TCM_TEMP	23.90	CFSIZE	260034560,247214080
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
SC_FREEKB	7704672	GPS	250613,012135,2200.652,12027.989,32,1.1,32,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	242	128.96	nil	0	0	0.00
Roll_motor	60	44	63.84	nil	0	0	0.00
VBD_pump_during_apogee	436	1256	13110.87	nil	0	0	0.00
VBD_pump_during_surface	72	133	229.29	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	7507	17	3142.85
Iridium_during_xfer	182	113	495.06	nil	0	0	0.00
Transponder_ping	0	420	7.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	3.32
TT8	1275	13	183.42
LPSleep	4472	2	100.89
TT8_Active	546	13	78.56
TT8_Sampling	1328	40	549.70
TT8_CF8	323	47	158.68
TT8_Kalman	0	0	0.00
Analog_circuits	1399	16	230.63
GPS_charging	0	0	0.00
Compass	1113	5	57.34
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.16	-194.6	112	1909	420	583	0.0	0.0	0	115	0.00	0.00	-87.28	0.000	16386	0.000	0.000	112	1910	2687	2664	2711	0	0	0	0	0	0	28.83	28.83	28.83
123	-1.16	-194.6	112	1910	2664	2712	3.8	-7.5	16	154	10.23	2.10	-13.73	0.000	18948	0.243	0.043	2701	503	3561	3556	3566	0	0	0	0	0	0	26.19	26.44	26.68
190	-1.16	-194.6	2701	503	3556	3567	32.5	-43.4	25	197	0.00	2.03	0.00	0.000	1030	0.000	0.018	2692	1933	3561	3556	3567	0	0	0	0	0	0	28.83	26.48	28.83
496	-1.16	-194.6	2692	1933	3558	3567	133.0	-32.9	43	501	0.00	1.98	0.00	0.000	260	0.000	0.031	2682	3305	3562	3558	3567	0	0	0	0	0	0	28.83	26.60	28.83
612	-1.16	-194.6	2682	3304	3558	3567	165.4	-29.9	48	618	0.00	2.00	0.00	0.000	1030	0.000	0.023	2682	1902	3562	3558	3567	0	0	0	0	0	0	28.83	26.65	28.83
927	-1.16	-194.6	2681	1901	3559	3567	241.9	-22.0	64	932	0.00	2.05	0.00	0.000	260	0.000	0.035	2672	3293	3563	3559	3567	0	0	0	0	0	0	28.83	26.69	28.83
1054	-1.16	-194.6	2671	3293	3559	3567	273.3	-26.4	70	1060	0.15	2.00	0.00	0.000	3078	0.177	0.021	2710	1883	3563	3559	3567	0	0	0	0	0	0	26.57	26.73	28.83
1380	-1.16	-194.6	2709	1883	3559	3565	339.1	-21.3	86	1385	0.00	1.98	0.00	0.000	516	0.000	0.031	2710	507	3562	3560	3564	0	0	0	0	0	0	28.83	26.74	28.83
1474	-1.16	-194.6	2709	507	3559	3563	359.5	-24.3	90	1479	0.00	1.95	0.00	0.000	1030	0.000	0.017	2702	1903	3561	3559	3563	0	0	0	0	0	0	28.83	26.77	28.83
1788	-1.16	-194.6	2700	1905	3562	3556	426.0	-18.8	106	1793	0.00	2.03	0.00	0.000	260	0.000	0.035	2697	3293	3559	3562	3556	0	0	0	0	0	0	28.83	26.74	28.83
1827	-1.16	-194.6	2697	3293	3562	3555	430.5	-18.7	107	1834	0.00	1.98	0.00	0.000	1030	0.000	0.019	2697	1890	3558	3562	3555	0	0	0	0	0	0	28.83	26.77	28.83
2134	-1.16	-194.6	2697	1890	3562	3549	494.7	-19.2	123	2139	0.00	1.98	0.00	0.000	516	0.000	0.032	2697	512	3555	3562	3549	0	0	0	0	0	0	28.83	26.76	28.83
2193	-1.16	-194.6	2697	512	3562	3548	503.4	-19.3	125	2199	0.00	1.95	0.00	0.000	1030	0.000	0.018	2688	1897	3555	3562	3548	0	0	0	0	0	0	28.83	26.79	28.83
2499	-1.16	-194.6	2687	1897	3562	3542	565.5	-20.5	141	2500	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	1897	3552	3562	3542	0	0	0	0	0	0	28.83	28.83	28.83
2821	-1.16	-194.6	2687	1897	3561	3537	624.3	-18.2	155	2827	0.00	2.05	0.00	0.000	260	0.000	0.036	2683	3288	3549	3562	3537	0	0	0	0	0	0	28.83	26.76	28.83
2865	-1.16	-194.6	2683	3288	3561	3536	631.3	-18.5	156	2870	0.00	1.98	0.00	0.000	1030	0.000	0.019	2684	1898	3548	3562	3535	0	0	0	0	0	0	28.83	26.80	28.83
3193	-1.16	-194.6	2683	1898	3561	3531	696.7	-19.4	167	3198	0.00	2.00	0.00	0.000	516	0.000	0.032	2683	512	3546	3562	3530	0	0	0	0	0	0	28.83	26.77	28.83
3221	-1.16	-194.6	2683	510	3562	3530	696.7	-19.4	167	3229	0.12	1.98	0.00	0.000	3078	0.184	0.019	2706	1902	3546	3562	3530	0	0	0	0	0	0	26.64	26.79	28.83
3531	-1.16	-194.6	2705	1902	3561	3524	760.6	-18.1	178	3536	0.00	2.03	0.00	0.000	516	0.000	0.031	2706	509	3543	3562	3524	0	0	0	0	0	0	28.83	26.77	28.83
3560	-1.16	-194.6	2705	509	3562	3524	760.6	-18.1	178	3567	0.00	2.00	0.00	0.000	1030	0.000	0.018	2698	1910	3543	3562	3524	0	0	0	0	0	0	28.83	26.79	28.83
3682	end dive: TARGET_DEPTH_EXCEEDED
state	3683	begin apogee
3692	-0.19	0.0	2696	2786	3561	3522	786.2	-15.8	183	3880	1.00	0.00	175.20	1.257	10246	0.142	0.000	3019	2787	2766	2832	2700	0	0	0	0	1	0	26.63	28.83	23.86
3882	end apogee: CONTROL_FINISHED_OK
state	3882	begin climb
3885	1.16	194.6	3019	2787	2832	2707	793.8	0.0	189	4066	1.17	2.17	170.57	1.005	10756	0.033	0.028	3486	1416	1957	2051	1864	0	0	0	0	0	0	25.04	24.98	24.34
4215	1.16	194.6	3485	1415	2041	1846	733.5	25.0	200	4221	0.00	2.12	0.00	0.000	1030	0.000	0.031	3486	2804	1943	2041	1845	0	0	0	0	0	0	28.83	25.92	28.83
4538	1.16	194.6	3485	2804	2041	1840	646.1	26.0	211	4543	0.00	1.48	0.00	0.000	260	0.000	0.044	3485	3759	1940	2041	1840	0	0	0	0	0	0	28.83	26.32	28.83
4773	1.16	194.6	3485	3759	2036	1838	584.4	27.8	219	4779	0.08	1.40	0.00	0.000	5126	0.194	0.024	3457	2797	1938	2037	1839	0	0	0	0	0	0	26.29	26.50	28.83
5089	1.16	194.6	3457	2797	2036	1837	502.6	23.6	235	5094	0.00	1.50	0.00	0.000	260	0.000	0.042	3457	3759	1936	2036	1837	0	0	0	0	0	0	28.83	26.53	28.83
5325	1.16	194.6	3457	3759	2036	1835	447.7	24.0	246	5330	0.00	1.40	0.00	0.000	1030	0.000	0.024	3463	2791	1936	2037	1835	0	0	0	0	0	0	28.83	26.63	28.83
5639	1.16	194.6	3463	2786	2037	1833	372.6	24.6	262	5644	0.00	1.50	0.00	0.000	260	0.000	0.041	3463	3758	1935	2037	1833	0	0	0	0	0	0	28.83	26.61	28.83
5846	1.16	194.6	3463	3757	2036	1833	319.5	26.3	272	5851	0.00	1.40	0.00	0.000	1030	0.000	0.024	3470	2794	1934	2036	1832	0	0	0	0	0	0	28.83	26.70	28.83
6170	1.16	194.6	3470	2792	2037	1831	242.8	20.7	288	6175	0.00	1.50	0.00	0.000	260	0.000	0.041	3470	3763	1934	2037	1832	0	0	0	0	0	0	28.83	26.66	28.83
6195	1.16	194.6	3470	3763	2036	1832	237.4	20.8	289	6200	0.00	1.40	0.00	0.000	1030	0.000	0.024	3477	2800	1935	2038	1832	0	0	0	0	0	0	28.83	26.72	28.83
6520	1.16	194.6	3477	2799	2037	1831	166.0	22.9	305	6525	0.00	1.50	0.00	0.000	260	0.000	0.041	3478	3768	1934	2037	1831	0	0	0	0	0	0	28.83	26.68	28.83
6755	1.16	194.6	3477	3767	2036	1830	114.1	22.1	316	6760	0.00	1.40	0.00	0.000	1030	0.000	0.022	3485	2784	1933	2037	1830	0	0	0	0	0	0	28.83	26.75	28.83
7070	1.16	194.6	3485	2780	2036	1829	60.0	15.3	332	7075	0.00	1.50	0.00	0.000	260	0.000	0.041	3485	3760	1933	2037	1829	0	0	0	0	0	0	28.83	26.70	28.83
7306	1.82	414.2	3485	3760	2037	1829	40.7	2.4	351	7408	0.40	1.35	90.68	0.213	11270	0.037	0.021	3697	2787	1071	1073	1070	0	0	0	0	0	0	26.73	26.78	26.16
7492	end climb: SURFACE_DEPTH_REACHED
state	7492	begin surface coast
7503	end surface coast: CONTROL_FINISHED_OK
state	7504	begin surface