Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 338 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 338 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 950 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 65 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 36 XPDR_VALID 2

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 400 XPDR_INHIBIT 90

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 3 CALL_NDIVES 1 ROLL_ADJ_GAIN 1.2 INT_PRESSURE_YINT 1.4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 415 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3400 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2380 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 380 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0035000001 DEVICE5 -1

T_MISSION 410 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -20945.754 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -8 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 154 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3952 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 250 C_PITCH 2810 FG_AHR_10V 0 SEABIRD_T_G 0.0043708701

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064764963

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.5888983e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -74.53199 SEABIRD_T_J 2.7074855e-06

RHO 1.0275 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001165165 SEABIRD_C_G -10.475479

MASS 52107 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.2050543

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015894541

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021379974

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 181 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.9999997e-06 ROLL_MAX 3676 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 175 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 950 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 25 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3952 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 154 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0035000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001165165 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_YINT -74.53199 T_BOOST 3

CALL_TRIES 5 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 380

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -20945.754

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 171 RELAUNCH 1 T_MISSION 410

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 ROLL_ADJ_DBAND 0.029999999 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 1.2 T_TURN 225

C_PITCH 2810 LOGGERDEVICE1 53 ROLL_AD_RATE 400 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2380 LOGGERDEVICE4 -1 ROLL_MAX 3676 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -8

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 65 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 36 VBD_DBAND 2

DEVICE3 -1 MISSION 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 338 N_DIVES 0 SEABIRD_C_H 1.2050543 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1010 N_FILEKB 8 SEABIRD_C_I -0.0015894541 VBD_TIMEOUT 720

D_BOOST 20 N_GPS 20 SEABIRD_C_J 0.00021379974 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043708701 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064764963 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5888983e-05 XPDR_VALID 2

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.7074855e-06

Pre-dive calculations and measurements:

GPS1 110413,070624,2320.502,12132.672,19,1.6,30,-3.1 TGT_NAME ININSHORE1A

_CALLS 1 TGT_LATLONG 2318.000,12132.750

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110413,071319,2320.799,12132.757,16,1.5,16,-3.1 MHEAD_RNG_PITCHd_Wd 187.8,5184,-10.6,-8.333,-15.41,4401

SPEED_LIMITS 0.144,0.302 D_GRID 665

Post-dive calculations and measurements:

FINISH 0.1,1.022511 _10V_AH 10.3,31.919

SM_CCo 6887,74.57,0.061,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.23,8.00,0.68,74.57,0.037,0.046,0.061,113,2493,748,-8.28,-1.33,400.08,0,0,0,0,0,0,26.50,26.41,26.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2314.48,12132.45,110413,050516 MEM 322844

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 13435,370

HUMID 49.52 CAP_FILE_SIZE 206931,0

INTERNAL_PRESSURE 9.63274 CFSIZE 260034560,220921856

TCM_TEMP 22.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.058,102.4,1

SC_FREEKB 3912576 GPS 110413,091105,2319.748,12132.746,31,0.8,31,-3.1

_24V_AH 24.3,50.577

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 216 104.95 nil 0 0 0.00

Roll_motor 62 53 81.30 nil 0 0 0.00

VBD_pump_during_apogee 598 771 11234.39 nil 0 0 0.00

VBD_pump_during_surface 74 61 110.90 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 6862 4 798.22

Iridium_during_xfer 248 128 776.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 27 4.84

TT8 1557 35 576.28

LPSleep 3546 2 80.01

TT8_Active 671 35 248.68

TT8_Sampling 1285 58 773.45

TT8_CF8 320 65 217.61

TT8_Kalman 0 0 0.00

Analog_circuits 1560 15 241.11

GPS_charging 0 0 0.00

Compass 985 5 60.78

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.28 -243.3 113 2492 838 659 0.0 0.0 0 82 0.00 0.00 -60.92 0.000 16386 0.000 0.000 113 2493 2502 2556 2448 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.28 -243.3 113 2493 2559 2449 4.0 -7.3 8 117 8.95 2.08 -14.32 0.000 18948 0.216 0.038 2393 1092 3376 3435 3317 0 0 0 0 0 0 25.54 26.20 26.53

165 -1.28 -243.3 2393 1092 3438 3317 35.6 -32.3 17 171 0.00 2.17 0.00 0.000 1030 0.000 0.039 2383 2500 3377 3438 3317 0 0 0 0 0 0 28.83 26.09 28.83

360 -1.28 -243.3 2383 2498 3442 3317 89.1 -25.9 29 361 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2498 3379 3442 3317 0 0 0 0 0 0 28.83 28.83 28.83

541 -1.28 -243.3 2386 2498 3443 3320 137.8 -27.7 38 546 0.00 1.85 0.00 0.000 260 0.000 0.052 2375 3674 3381 3443 3320 0 0 0 0 0 0 28.83 26.20 28.83

569 -1.28 -243.3 2374 3675 3443 3320 144.7 -28.1 39 575 0.00 1.70 0.00 0.000 1030 0.000 0.025 2375 2490 3381 3443 3320 0 0 0 0 0 0 28.83 26.45 28.83

771 -1.28 -243.3 2374 2489 3444 3320 202.4 -28.5 49 777 0.00 1.85 0.00 0.000 260 0.000 0.054 2366 3669 3382 3444 3320 0 0 0 0 0 0 28.83 26.25 28.83

887 -1.28 -243.3 2366 3669 3444 3320 234.6 -29.4 54 895 0.12 1.65 0.00 0.000 3078 0.154 0.024 2398 2511 3383 3444 3323 0 0 0 0 0 0 26.17 26.51 28.83

1085 -1.28 -243.3 2398 2512 3444 3320 286.7 -24.5 64 1091 0.00 2.05 0.00 0.000 516 0.000 0.027 2399 1109 3382 3445 3320 0 0 0 0 0 0 28.83 26.46 28.83

1125 -1.28 -243.3 2398 1109 3444 3320 293.1 -24.5 65 1134 0.00 2.15 0.00 0.000 1030 0.000 0.038 2389 2511 3382 3444 3320 0 0 0 0 0 0 28.83 26.32 28.83

1430 -1.28 -243.3 2388 2512 3445 3320 369.5 -23.8 81 1436 0.00 1.83 0.00 0.000 260 0.000 0.054 2380 3679 3382 3444 3320 0 0 0 0 0 0 28.83 26.29 28.83

1491 -1.28 -243.3 2379 3679 3444 3320 381.1 -24.8 83 1499 0.00 1.67 0.00 0.000 1030 0.000 0.025 2380 2510 3382 3445 3320 0 0 0 0 0 0 28.83 26.57 28.83

1797 -1.28 -243.3 2379 2509 3444 3320 455.7 -23.1 99 1799 0.00 0.00 0.00 0.000 6 0.000 0.000 2380 2511 3382 3444 3320 0 0 0 0 0 0 28.83 28.83 28.83

2098 -1.28 -243.3 2379 2510 3444 3320 527.2 -23.6 114 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2510 3382 3444 3320 0 0 0 0 0 0 28.83 28.83 28.83

2397 -1.28 -243.3 2379 2510 3444 3318 593.4 -22.9 129 2403 0.00 2.05 0.00 0.000 516 0.000 0.027 2380 1108 3380 3444 3317 0 0 0 0 0 0 28.83 26.49 28.83

2431 -1.28 -243.3 2379 1108 3444 3317 599.3 -23.2 130 2437 0.12 2.15 0.00 0.000 3078 0.158 0.039 2402 2506 3380 3444 3317 0 0 0 0 0 0 26.13 26.36 28.83

2717 end dive: TARGET_DEPTH_EXCEEDED

state 2717 begin apogee

2724 -0.20 0.0 2402 1985 3444 3312 666.5 -21.8 140 3087 1.02 0.00 351.30 0.664 10244 0.115 0.000 2742 1984 2376 2531 2222 0 0 0 0 0 0 25.95 28.83 24.50

3088 end apogee: CONTROL_FINISHED_OK

state 3089 begin climb

3091 1.28 243.3 2741 1984 2526 2212 698.6 0.0 151 3350 1.35 2.17 247.65 0.772 10756 0.054 0.034 3230 622 1381 1493 1269 0 0 0 0 0 0 25.32 25.32 24.30

3523 1.28 243.3 3229 622 1459 1242 638.1 23.2 164 3529 0.00 2.12 0.00 0.000 1030 0.000 0.030 3229 2017 1351 1460 1242 0 0 0 0 0 0 28.83 25.92 28.83

3833 1.28 243.3 3229 2017 1457 1239 559.2 25.7 177 3839 0.00 2.15 0.00 0.000 516 0.000 0.037 3242 621 1348 1457 1239 0 0 0 0 0 0 28.83 26.21 28.83

4013 1.28 243.3 3241 621 1454 1238 518.4 23.3 185 4019 0.00 2.08 0.00 0.000 1030 0.000 0.030 3241 2009 1346 1454 1238 0 0 0 0 0 0 28.83 26.32 28.83

4328 1.28 243.3 3241 2008 1453 1237 446.1 23.0 201 4335 0.00 2.17 0.00 0.000 260 0.000 0.044 3241 3404 1344 1453 1236 0 0 0 0 0 0 28.83 26.31 28.83

4359 1.28 243.3 3240 3404 1453 1236 439.8 23.3 202 4365 0.12 2.05 0.00 0.000 5126 0.174 0.028 3221 2018 1344 1452 1236 0 0 0 0 0 0 26.09 26.42 28.83

4681 1.28 243.3 3221 2018 1451 1234 371.2 20.2 218 4687 0.00 2.15 0.00 0.000 516 0.000 0.040 3232 610 1342 1451 1234 0 0 0 0 0 0 28.83 26.36 28.83

4761 1.28 243.3 2256 610 1424 1231 355.9 21.9 221 4769 0.00 2.08 0.00 0.000 1030 0.000 0.031 3232 2002 1342 1451 1234 0 0 0 0 0 0 28.83 26.42 28.83

5068 1.28 243.3 3231 2002 1450 1231 289.1 20.0 237 5074 0.00 2.17 0.00 0.000 260 0.000 0.044 3232 3401 1340 1450 1231 0 0 0 0 0 0 28.83 26.35 28.83

5149 1.28 243.3 3232 3403 1449 1231 274.4 21.5 240 5157 0.00 2.08 0.00 0.000 1030 0.000 0.029 3244 2007 1340 1450 1231 0 0 0 0 0 0 28.83 26.47 28.83

5456 1.28 243.3 3243 2006 1449 1230 209.5 19.3 256 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2006 1338 1446 1230 0 0 0 0 0 0 28.83 28.83 28.83

5635 1.28 243.3 3243 2006 1448 1230 173.3 20.6 265 5641 0.00 2.17 0.00 0.000 260 0.000 0.044 3243 3403 1339 1449 1230 0 0 0 0 0 0 28.83 26.35 28.83

5676 1.28 243.3 3243 3403 1448 1230 168.0 20.5 266 5685 0.12 2.05 0.00 0.000 5126 0.169 0.028 3223 2016 1339 1448 1230 0 0 0 0 0 0 26.14 26.48 28.83

5862 1.28 243.3 3222 2015 1447 1229 128.3 18.4 276 5868 0.00 2.12 0.00 0.000 516 0.000 0.039 3234 611 1338 1448 1229 0 0 0 0 0 0 28.83 26.37 28.83

5949 1.28 243.3 3234 610 1448 1229 112.3 18.1 280 5955 0.00 2.12 0.00 0.000 1030 0.000 0.031 3234 2030 1338 1448 1229 0 0 0 0 0 0 28.83 26.44 28.83

6156 1.28 243.3 3234 2030 1448 1229 72.2 19.9 290 6163 0.00 2.12 0.00 0.000 260 0.000 0.046 3237 3400 1340 1451 1229 0 0 0 0 0 0 28.83 26.34 28.83

6398 1.28 243.3 3234 3400 1447 1228 45.3 8.7 304 6404 0.00 1.98 0.00 0.000 1030 0.000 0.027 3245 2056 1337 1447 1228 0 0 0 0 0 0 28.83 26.51 28.83

6592 1.28 243.3 3244 2056 1447 1227 27.8 8.7 323 6598 0.00 2.10 0.00 0.000 260 0.000 0.046 3245 3402 1337 1447 1227 0 0 0 0 0 0 28.83 26.34 28.83

6790 1.28 243.3 2192 3401 1419 1224 5.5 9.6 357 6799 0.12 1.98 0.00 0.000 5126 0.159 0.028 3223 2062 1337 1447 1227 0 0 0 0 0 0 26.17 26.50 28.83

6822 end climb: SURFACE_DEPTH_REACHED

state 6822 begin surface coast

6867 end surface coast: CONTROL_FINISHED_OK

state 6867 begin surface

ID	171	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	338	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	950	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	65	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	36	XPDR_VALID	2
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	400	XPDR_INHIBIT	90
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	3	CALL_NDIVES	1	ROLL_ADJ_GAIN	1.2	INT_PRESSURE_YINT	1.4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	415	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3400	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2380	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	380	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0035000001	DEVICE5	-1
T_MISSION	410	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-20945.754	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-8	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	154	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3952	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	250	C_PITCH	2810	FG_AHR_10V	0	SEABIRD_T_G	0.0043708701
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064764963
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.5888983e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-74.53199	SEABIRD_T_J	2.7074855e-06
RHO	1.0275	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001165165	SEABIRD_C_G	-10.475479
MASS	52107	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.2050543
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015894541
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021379974
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	181	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.9999997e-06	ROLL_MAX	3676	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	110413,070624,2320.502,12132.672,19,1.6,30,-3.1	TGT_NAME	ININSHORE1A
_CALLS	1	TGT_LATLONG	2318.000,12132.750
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110413,071319,2320.799,12132.757,16,1.5,16,-3.1	MHEAD_RNG_PITCHd_Wd	187.8,5184,-10.6,-8.333,-15.41,4401
SPEED_LIMITS	0.144,0.302	D_GRID	665

FINISH	0.1,1.022511	_10V_AH	10.3,31.919
SM_CCo	6887,74.57,0.061,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.23,8.00,0.68,74.57,0.037,0.046,0.061,113,2493,748,-8.28,-1.33,400.08,0,0,0,0,0,0,26.50,26.41,26.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2314.48,12132.45,110413,050516	MEM	322844
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	13435,370
HUMID	49.52	CAP_FILE_SIZE	206931,0
INTERNAL_PRESSURE	9.63274	CFSIZE	260034560,220921856
TCM_TEMP	22.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.058,102.4,1
SC_FREEKB	3912576	GPS	110413,091105,2319.748,12132.746,31,0.8,31,-3.1
_24V_AH	24.3,50.577

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	216	104.95	nil	0	0	0.00
Roll_motor	62	53	81.30	nil	0	0	0.00
VBD_pump_during_apogee	598	771	11234.39	nil	0	0	0.00
VBD_pump_during_surface	74	61	110.90	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	6862	4	798.22
Iridium_during_xfer	248	128	776.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	27	4.84
TT8	1557	35	576.28
LPSleep	3546	2	80.01
TT8_Active	671	35	248.68
TT8_Sampling	1285	58	773.45
TT8_CF8	320	65	217.61
TT8_Kalman	0	0	0.00
Analog_circuits	1560	15	241.11
GPS_charging	0	0	0.00
Compass	985	5	60.78
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.28	-243.3	113	2492	838	659	0.0	0.0	0	82	0.00	0.00	-60.92	0.000	16386	0.000	0.000	113	2493	2502	2556	2448	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.28	-243.3	113	2493	2559	2449	4.0	-7.3	8	117	8.95	2.08	-14.32	0.000	18948	0.216	0.038	2393	1092	3376	3435	3317	0	0	0	0	0	0	25.54	26.20	26.53
165	-1.28	-243.3	2393	1092	3438	3317	35.6	-32.3	17	171	0.00	2.17	0.00	0.000	1030	0.000	0.039	2383	2500	3377	3438	3317	0	0	0	0	0	0	28.83	26.09	28.83
360	-1.28	-243.3	2383	2498	3442	3317	89.1	-25.9	29	361	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2498	3379	3442	3317	0	0	0	0	0	0	28.83	28.83	28.83
541	-1.28	-243.3	2386	2498	3443	3320	137.8	-27.7	38	546	0.00	1.85	0.00	0.000	260	0.000	0.052	2375	3674	3381	3443	3320	0	0	0	0	0	0	28.83	26.20	28.83
569	-1.28	-243.3	2374	3675	3443	3320	144.7	-28.1	39	575	0.00	1.70	0.00	0.000	1030	0.000	0.025	2375	2490	3381	3443	3320	0	0	0	0	0	0	28.83	26.45	28.83
771	-1.28	-243.3	2374	2489	3444	3320	202.4	-28.5	49	777	0.00	1.85	0.00	0.000	260	0.000	0.054	2366	3669	3382	3444	3320	0	0	0	0	0	0	28.83	26.25	28.83
887	-1.28	-243.3	2366	3669	3444	3320	234.6	-29.4	54	895	0.12	1.65	0.00	0.000	3078	0.154	0.024	2398	2511	3383	3444	3323	0	0	0	0	0	0	26.17	26.51	28.83
1085	-1.28	-243.3	2398	2512	3444	3320	286.7	-24.5	64	1091	0.00	2.05	0.00	0.000	516	0.000	0.027	2399	1109	3382	3445	3320	0	0	0	0	0	0	28.83	26.46	28.83
1125	-1.28	-243.3	2398	1109	3444	3320	293.1	-24.5	65	1134	0.00	2.15	0.00	0.000	1030	0.000	0.038	2389	2511	3382	3444	3320	0	0	0	0	0	0	28.83	26.32	28.83
1430	-1.28	-243.3	2388	2512	3445	3320	369.5	-23.8	81	1436	0.00	1.83	0.00	0.000	260	0.000	0.054	2380	3679	3382	3444	3320	0	0	0	0	0	0	28.83	26.29	28.83
1491	-1.28	-243.3	2379	3679	3444	3320	381.1	-24.8	83	1499	0.00	1.67	0.00	0.000	1030	0.000	0.025	2380	2510	3382	3445	3320	0	0	0	0	0	0	28.83	26.57	28.83
1797	-1.28	-243.3	2379	2509	3444	3320	455.7	-23.1	99	1799	0.00	0.00	0.00	0.000	6	0.000	0.000	2380	2511	3382	3444	3320	0	0	0	0	0	0	28.83	28.83	28.83
2098	-1.28	-243.3	2379	2510	3444	3320	527.2	-23.6	114	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2510	3382	3444	3320	0	0	0	0	0	0	28.83	28.83	28.83
2397	-1.28	-243.3	2379	2510	3444	3318	593.4	-22.9	129	2403	0.00	2.05	0.00	0.000	516	0.000	0.027	2380	1108	3380	3444	3317	0	0	0	0	0	0	28.83	26.49	28.83
2431	-1.28	-243.3	2379	1108	3444	3317	599.3	-23.2	130	2437	0.12	2.15	0.00	0.000	3078	0.158	0.039	2402	2506	3380	3444	3317	0	0	0	0	0	0	26.13	26.36	28.83
2717	end dive: TARGET_DEPTH_EXCEEDED
state	2717	begin apogee
2724	-0.20	0.0	2402	1985	3444	3312	666.5	-21.8	140	3087	1.02	0.00	351.30	0.664	10244	0.115	0.000	2742	1984	2376	2531	2222	0	0	0	0	0	0	25.95	28.83	24.50
3088	end apogee: CONTROL_FINISHED_OK
state	3089	begin climb
3091	1.28	243.3	2741	1984	2526	2212	698.6	0.0	151	3350	1.35	2.17	247.65	0.772	10756	0.054	0.034	3230	622	1381	1493	1269	0	0	0	0	0	0	25.32	25.32	24.30
3523	1.28	243.3	3229	622	1459	1242	638.1	23.2	164	3529	0.00	2.12	0.00	0.000	1030	0.000	0.030	3229	2017	1351	1460	1242	0	0	0	0	0	0	28.83	25.92	28.83
3833	1.28	243.3	3229	2017	1457	1239	559.2	25.7	177	3839	0.00	2.15	0.00	0.000	516	0.000	0.037	3242	621	1348	1457	1239	0	0	0	0	0	0	28.83	26.21	28.83
4013	1.28	243.3	3241	621	1454	1238	518.4	23.3	185	4019	0.00	2.08	0.00	0.000	1030	0.000	0.030	3241	2009	1346	1454	1238	0	0	0	0	0	0	28.83	26.32	28.83
4328	1.28	243.3	3241	2008	1453	1237	446.1	23.0	201	4335	0.00	2.17	0.00	0.000	260	0.000	0.044	3241	3404	1344	1453	1236	0	0	0	0	0	0	28.83	26.31	28.83
4359	1.28	243.3	3240	3404	1453	1236	439.8	23.3	202	4365	0.12	2.05	0.00	0.000	5126	0.174	0.028	3221	2018	1344	1452	1236	0	0	0	0	0	0	26.09	26.42	28.83
4681	1.28	243.3	3221	2018	1451	1234	371.2	20.2	218	4687	0.00	2.15	0.00	0.000	516	0.000	0.040	3232	610	1342	1451	1234	0	0	0	0	0	0	28.83	26.36	28.83
4761	1.28	243.3	2256	610	1424	1231	355.9	21.9	221	4769	0.00	2.08	0.00	0.000	1030	0.000	0.031	3232	2002	1342	1451	1234	0	0	0	0	0	0	28.83	26.42	28.83
5068	1.28	243.3	3231	2002	1450	1231	289.1	20.0	237	5074	0.00	2.17	0.00	0.000	260	0.000	0.044	3232	3401	1340	1450	1231	0	0	0	0	0	0	28.83	26.35	28.83
5149	1.28	243.3	3232	3403	1449	1231	274.4	21.5	240	5157	0.00	2.08	0.00	0.000	1030	0.000	0.029	3244	2007	1340	1450	1231	0	0	0	0	0	0	28.83	26.47	28.83
5456	1.28	243.3	3243	2006	1449	1230	209.5	19.3	256	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2006	1338	1446	1230	0	0	0	0	0	0	28.83	28.83	28.83
5635	1.28	243.3	3243	2006	1448	1230	173.3	20.6	265	5641	0.00	2.17	0.00	0.000	260	0.000	0.044	3243	3403	1339	1449	1230	0	0	0	0	0	0	28.83	26.35	28.83
5676	1.28	243.3	3243	3403	1448	1230	168.0	20.5	266	5685	0.12	2.05	0.00	0.000	5126	0.169	0.028	3223	2016	1339	1448	1230	0	0	0	0	0	0	26.14	26.48	28.83
5862	1.28	243.3	3222	2015	1447	1229	128.3	18.4	276	5868	0.00	2.12	0.00	0.000	516	0.000	0.039	3234	611	1338	1448	1229	0	0	0	0	0	0	28.83	26.37	28.83
5949	1.28	243.3	3234	610	1448	1229	112.3	18.1	280	5955	0.00	2.12	0.00	0.000	1030	0.000	0.031	3234	2030	1338	1448	1229	0	0	0	0	0	0	28.83	26.44	28.83
6156	1.28	243.3	3234	2030	1448	1229	72.2	19.9	290	6163	0.00	2.12	0.00	0.000	260	0.000	0.046	3237	3400	1340	1451	1229	0	0	0	0	0	0	28.83	26.34	28.83
6398	1.28	243.3	3234	3400	1447	1228	45.3	8.7	304	6404	0.00	1.98	0.00	0.000	1030	0.000	0.027	3245	2056	1337	1447	1228	0	0	0	0	0	0	28.83	26.51	28.83
6592	1.28	243.3	3244	2056	1447	1227	27.8	8.7	323	6598	0.00	2.10	0.00	0.000	260	0.000	0.046	3245	3402	1337	1447	1227	0	0	0	0	0	0	28.83	26.34	28.83
6790	1.28	243.3	2192	3401	1419	1224	5.5	9.6	357	6799	0.12	1.98	0.00	0.000	5126	0.159	0.028	3223	2062	1337	1447	1227	0	0	0	0	0	0	26.17	26.50	28.83
6822	end climb: SURFACE_DEPTH_REACHED
state	6822	begin surface coast
6867	end surface coast: CONTROL_FINISHED_OK
state	6867	begin surface