Glider dive log

OKMC Nov12 * SG129 * Dive index * Mission links * Dive 412 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 129 HD_C 9.8541004e-06 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 4 HEADING -1 ROLL_MAX 3935 ALTIM_PING_DEPTH 0

DIVE 412 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1925 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 400 R_PORT_OVSHOOT 61 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 4 R_STBD_OVSHOOT 86 INT_PRESSURE_YINT 0

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 210 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3600 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2409 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 350 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -13 T_GPS_CHARGE -3271.4382 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 149.5 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98.599998 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 21.5 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 80 FG_AHR_24V 120.57124 SEABIRD_T_G 0.004337111

MAX_BUOY 190 PITCH_MAX 3800 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062520173

COURSE_BIAS 0 C_PITCH 2160 PRESSURE_YINT -51.692307 SEABIRD_T_I 2.3466939e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001153375 SEABIRD_T_J 2.4866913e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125753 AD7714Ch0Gain 128 SEABIRD_C_G -10.062903

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1231569

MASS 51538 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017987719

NAV_MODE 2 PITCH_TIMEOUT 15 COMPASS_USE 4 SEABIRD_C_J 0.0002252144

FERRY_MAX 45 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 98.599998 D_PITCH 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 149.5 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 125 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125753 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 120.57124 PITCH_MIN 80 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001153375 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -51.692307 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 350

CALL_WAIT 60 HD_C 9.8541004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -3271.4382

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 129 RHO 1.0275 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2160 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 1925 LOGGERDEVICE3 -1 ROLL_MAX 3935 UNCOM_BLEED 20

C_VBD 2409 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 215 USE_BATHY -13

DEEPGLIDERMB 0 MASS 51538 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 190 R_PORT_OVSHOOT 61 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9 R_STBD_OVSHOOT 86 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 21.5 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 4 SC_RECORDABOVE 2000.0 VBD_MAX 3600

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -10.062903 VBD_MIN 210

DIVE 412 NOCOMM_ACTION 163 SEABIRD_C_H 1.1231569 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_I -0.0017987719 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 20 N_FILEKB 4 SEABIRD_C_J 0.0002252144 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.004337111 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062520173 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3466939e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.4866913e-06

Pre-dive calculations and measurements:

GPS1 100213,051521,1829.627,12221.364,12,3.2,31,-2.0 TGT_NAME S1

_CALLS 1 TGT_LATLONG 1831.410,12216.350

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100213,052331,1829.917,12221.203,35,1.9,35,-2.0 MHEAD_RNG_PITCHd_Wd 245.0,8961,-15.3,-9.429,-18.41

SPEED_LIMITS 0.163,0.283 D_GRID 513

Post-dive calculations and measurements:

FINISH 0.8,1.013394 _10V_AH 9.7,56.142

SM_CCo 9760,0.00,0.000,0,0,205,540.64 FG_AHR_24Vo 120.571

SM_GC 1.51,6.53,0.00,0.00,0.046,0.000,0.000,55,1920,205,-6.47,-0.14,540.64,0,0,0,0,0,0,26.03,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1823.67,12220.08,100213,010139 MEM 308656

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20127,546

HUMID 56.26 CAP_FILE_SIZE 126076,0

INTERNAL_PRESSURE 9.2484 CFSIZE 260034560,210124800

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.100,338.4,1

SC_FREEKB 3862240 GPS 100213,080800,1829.882,12219.722,41,1.1,41,-2.0

_24V_AH 23.6,84.966

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 243 94.30 nil 0 0 0.00

Roll_motor 77 45 83.46 nil 0 0 0.00

VBD_pump_during_apogee 604 1039 14823.05 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9702 16 3743.61

Iridium_during_xfer 264 130 815.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 31 10.93

TT8 1693 11 185.01

LPSleep 5953 2 126.46

TT8_Active 595 11 65.08

TT8_Sampling 1672 37 608.14

TT8_CF8 331 44 144.65

TT8_Kalman 0 0 0.00

Analog_circuits 1671 15 254.62

GPS_charging 0 0 0.00

Compass 1331 8 106.46

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -0.58 -184.9 0.0 0.0 0 93 0.00 0.00 -70.22 0.000 2 0.000 0.000 51 1909 1919 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.58 -184.9 3.4 -5.4 12 140 8.12 2.08 -28.05 0.000 4 0.243 0.044 1954 3306 3163 0 0 0 0 0 0 24.77 26.05 26.56

284 -0.53 -184.9 48.0 -28.7 38 291 0.12 2.00 0.00 0.000 6 0.163 0.022 1986 1896 3164 0 0 0 0 0 0 25.85 26.25 28.83

590 -0.50 -184.9 111.0 -15.2 54 596 0.00 1.98 0.00 0.000 4 0.000 0.029 1985 545 3164 0 0 0 0 0 0 28.83 26.18 28.83

779 -0.48 -184.9 138.6 -15.3 63 784 0.00 1.95 0.00 0.000 6 0.000 0.021 1977 1920 3166 0 0 0 0 0 0 28.83 26.28 28.83

1099 -0.47 -184.9 186.9 -14.2 79 1101 0.12 0.00 0.00 0.000 6 0.145 0.000 2013 1919 3166 0 0 0 0 0 0 26.17 28.83 28.83

1400 -0.47 -184.9 219.4 -9.7 94 1406 0.00 2.00 0.00 0.000 4 0.000 0.028 2013 541 3165 0 0 0 0 0 0 28.83 26.19 28.83

1498 -0.47 -184.9 227.8 -9.6 98 1504 0.00 1.98 0.00 0.000 6 0.000 0.020 2005 1937 3163 0 0 0 0 0 0 28.83 26.30 28.83

1803 -0.47 -184.9 260.8 -10.4 114 1809 0.00 2.00 0.00 0.000 4 0.000 0.033 1994 3309 3164 0 0 0 0 0 0 28.83 26.13 28.83

1856 -0.47 -184.9 265.1 -10.1 116 1861 0.00 1.98 0.00 0.000 6 0.000 0.021 1995 1901 3164 0 0 0 0 0 0 28.83 26.31 28.83

2170 -0.47 -184.9 294.4 -9.7 132 2175 0.00 1.95 0.00 0.000 4 0.000 0.030 1994 557 3163 0 0 0 0 0 0 28.83 26.17 28.83

2404 -0.47 -184.9 318.7 -10.7 143 2410 0.00 1.95 0.00 0.000 6 0.000 0.020 1986 1929 3162 0 0 0 0 0 0 28.83 26.29 28.83

2718 -0.47 -184.9 352.6 -10.4 159 2724 0.00 2.03 0.00 0.000 4 0.000 0.028 1986 556 3161 0 0 0 0 0 0 28.83 26.18 28.83

2792 -0.47 -184.9 359.4 -10.6 162 2798 0.12 1.95 0.00 0.000 6 0.146 0.021 2012 1921 3161 0 0 0 0 0 0 25.95 26.29 28.83

3106 -0.48 -184.9 388.0 -9.0 178 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 2012 1921 3159 0 0 0 0 0 0 28.83 28.83 28.83

3409 -0.49 -184.9 414.8 -8.4 193 3414 0.00 2.03 0.00 0.000 4 0.000 0.028 2012 555 3156 0 0 0 0 0 0 28.83 26.17 28.83

3457 -0.50 -184.9 419.0 -8.6 195 3463 0.00 1.98 0.00 0.000 6 0.000 0.021 2004 1939 3156 0 0 0 0 0 0 28.83 26.28 28.83

3777 -0.51 -184.9 449.3 -9.2 211 3783 0.00 2.05 -0.08 0.000 4 0.000 0.046 1994 3298 3183 0 0 0 0 0 0 28.83 26.06 25.26

3832 -0.53 -184.9 453.6 -9.4 213 3838 0.00 1.95 0.00 0.000 6 0.000 0.021 1994 1923 3182 0 0 0 0 0 0 28.83 26.32 28.83

4147 -0.53 -184.9 484.5 -9.6 229 4152 0.00 2.03 0.00 0.000 4 0.000 0.030 1994 546 3182 0 0 0 0 0 0 28.83 26.14 28.83

4251 -0.53 -184.9 495.0 -10.1 234 4256 0.00 1.98 0.00 0.000 6 0.000 0.021 1986 1924 3182 0 0 0 0 0 0 28.83 26.27 28.83

4452 end dive: TARGET_DEPTH_EXCEEDED

state 4452 begin apogee

4458 -0.17 0.0 514.6 -9.6 244 4617 0.35 0.00 152.05 1.040 6 0.114 0.000 2105 1923 2409 0 0 0 0 0 0 25.72 28.83 23.56

4619 end apogee: CONTROL_FINISHED_OK

state 4619 begin climb

4621 0.58 184.9 522.6 0.0 252 4779 0.68 2.22 149.35 1.013 4 0.086 0.032 2354 528 1655 0 0 0 0 0 0 25.34 25.35 23.70

4855 0.64 285.9 514.2 6.0 263 4944 0.00 1.98 83.03 0.999 6 0.000 0.019 2355 1901 1243 0 0 0 0 0 0 28.83 26.08 23.81

5244 0.72 396.0 489.4 5.7 283 5344 0.10 2.17 92.10 0.997 4 0.112 0.032 2400 3281 794 0 0 0 0 0 0 26.32 25.41 23.81

5435 0.74 403.8 473.4 9.2 292 5450 0.00 2.00 7.70 0.824 6 0.000 0.023 2406 1905 762 0 0 0 0 0 0 28.83 26.08 24.06

5750 0.77 422.0 446.7 8.8 308 5774 0.00 2.12 16.77 0.932 4 0.000 0.034 2416 518 688 0 0 0 0 0 0 28.83 25.90 24.06

5813 0.79 429.5 440.9 9.2 311 5828 0.00 2.00 7.82 0.830 6 0.000 0.019 2415 1910 657 0 0 0 0 0 0 28.83 26.15 24.10

6137 0.81 429.5 407.0 11.3 327 6138 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 1920 655 0 0 0 0 0 0 28.83 28.83 28.83

6439 0.85 461.7 379.0 8.3 342 6471 0.00 0.00 28.67 0.946 6 0.000 0.000 2416 1918 526 0 0 0 0 0 0 28.83 28.83 24.02

6780 0.89 499.1 350.2 8.1 359 6818 0.00 2.15 32.22 0.929 4 0.000 0.031 2416 515 373 0 0 0 0 0 0 28.83 25.69 24.03

6857 0.93 540.9 345.3 8.0 362 6902 0.12 2.00 34.42 0.914 6 0.096 0.019 2469 1902 210 0 0 0 0 0 0 25.89 26.05 23.98

7203 0.94 540.9 304.4 11.4 380 7208 0.00 2.10 0.00 0.000 4 0.000 0.033 2478 511 206 0 0 0 0 0 0 28.83 26.14 28.83

7228 0.95 540.9 301.5 11.2 381 7233 0.00 2.00 0.00 0.000 6 0.000 0.019 2478 1898 206 0 0 0 0 0 0 28.83 26.32 28.83

7551 0.95 540.9 261.4 12.5 397 7552 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1904 205 0 0 0 0 0 0 28.83 28.83 28.83

7854 0.95 540.9 216.5 15.0 412 7859 0.00 2.10 0.00 0.000 4 0.000 0.034 2485 511 205 0 0 0 0 0 0 28.83 26.13 28.83

7918 0.97 540.9 207.5 13.7 415 7924 0.00 1.98 0.00 0.000 6 0.000 0.020 2485 1898 205 0 0 0 0 0 0 28.83 26.32 28.83

8241 0.97 540.9 159.6 14.7 431 8247 0.00 2.05 0.00 0.000 4 0.000 0.031 2485 3282 204 0 0 0 0 0 0 28.83 26.12 28.83

8265 0.97 540.9 156.2 14.5 432 8272 0.00 2.03 0.00 0.000 6 0.000 0.024 2485 1898 204 0 0 0 0 0 0 28.83 26.23 28.83

8590 0.98 540.9 114.3 13.8 448 8595 0.00 2.08 0.00 0.000 4 0.000 0.032 2495 499 204 0 0 0 0 0 0 28.83 26.11 28.83

8663 1.00 540.9 106.2 12.7 451 8668 0.00 2.03 0.00 0.000 6 0.000 0.019 2495 1914 204 0 0 0 0 0 0 28.83 26.32 28.83

8977 1.02 551.7 66.3 9.1 467 8982 0.00 2.12 0.00 0.000 4 0.000 0.031 2495 501 204 0 0 0 0 0 0 28.83 26.11 28.83

9061 1.08 619.3 60.3 7.1 471 9066 0.00 2.03 0.00 0.000 6 0.000 0.018 2495 1920 204 0 0 0 0 0 0 28.83 26.32 28.83

9374 1.14 663.4 33.8 7.9 496 9380 0.00 2.10 0.00 0.000 4 0.000 0.031 2495 504 204 0 0 0 0 0 0 28.83 26.11 28.83

9444 1.20 715.9 28.8 7.6 502 9451 0.15 1.98 0.00 0.000 6 0.084 0.018 2566 1917 205 0 0 0 0 0 0 26.14 26.32 28.83

9666 end climb: SURFACE_DEPTH_REACHED

state 9666 begin surface coast

9682 end surface coast: CONTROL_FINISHED_OK

state 9682 begin surface

ID	129	HD_C	9.8541004e-06	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	4	HEADING	-1	ROLL_MAX	3935	ALTIM_PING_DEPTH	0
DIVE	412	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1925	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	400	R_PORT_OVSHOOT	61	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	4	R_STBD_OVSHOOT	86	INT_PRESSURE_YINT	0
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	210	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3600	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2409	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	350	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-13	T_GPS_CHARGE	-3271.4382	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	149.5	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98.599998	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	21.5	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	80	FG_AHR_24V	120.57124	SEABIRD_T_G	0.004337111
MAX_BUOY	190	PITCH_MAX	3800	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062520173
COURSE_BIAS	0	C_PITCH	2160	PRESSURE_YINT	-51.692307	SEABIRD_T_I	2.3466939e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001153375	SEABIRD_T_J	2.4866913e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125753	AD7714Ch0Gain	128	SEABIRD_C_G	-10.062903
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1231569
MASS	51538	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017987719
NAV_MODE	2	PITCH_TIMEOUT	15	COMPASS_USE	4	SEABIRD_C_J	0.0002252144
FERRY_MAX	45	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0

GPS1	100213,051521,1829.627,12221.364,12,3.2,31,-2.0	TGT_NAME	S1
_CALLS	1	TGT_LATLONG	1831.410,12216.350
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100213,052331,1829.917,12221.203,35,1.9,35,-2.0	MHEAD_RNG_PITCHd_Wd	245.0,8961,-15.3,-9.429,-18.41
SPEED_LIMITS	0.163,0.283	D_GRID	513

FINISH	0.8,1.013394	_10V_AH	9.7,56.142
SM_CCo	9760,0.00,0.000,0,0,205,540.64	FG_AHR_24Vo	120.571
SM_GC	1.51,6.53,0.00,0.00,0.046,0.000,0.000,55,1920,205,-6.47,-0.14,540.64,0,0,0,0,0,0,26.03,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1823.67,12220.08,100213,010139	MEM	308656
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20127,546
HUMID	56.26	CAP_FILE_SIZE	126076,0
INTERNAL_PRESSURE	9.2484	CFSIZE	260034560,210124800
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.100,338.4,1
SC_FREEKB	3862240	GPS	100213,080800,1829.882,12219.722,41,1.1,41,-2.0
_24V_AH	23.6,84.966

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	243	94.30	nil	0	0	0.00
Roll_motor	77	45	83.46	nil	0	0	0.00
VBD_pump_during_apogee	604	1039	14823.05	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9702	16	3743.61
Iridium_during_xfer	264	130	815.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	31	10.93
TT8	1693	11	185.01
LPSleep	5953	2	126.46
TT8_Active	595	11	65.08
TT8_Sampling	1672	37	608.14
TT8_CF8	331	44	144.65
TT8_Kalman	0	0	0.00
Analog_circuits	1671	15	254.62
GPS_charging	0	0	0.00
Compass	1331	8	106.46
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-0.58	-184.9	0.0	0.0	0	93	0.00	0.00	-70.22	0.000	2	0.000	0.000	51	1909	1919	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.58	-184.9	3.4	-5.4	12	140	8.12	2.08	-28.05	0.000	4	0.243	0.044	1954	3306	3163	0	0	0	0	0	0	24.77	26.05	26.56
284	-0.53	-184.9	48.0	-28.7	38	291	0.12	2.00	0.00	0.000	6	0.163	0.022	1986	1896	3164	0	0	0	0	0	0	25.85	26.25	28.83
590	-0.50	-184.9	111.0	-15.2	54	596	0.00	1.98	0.00	0.000	4	0.000	0.029	1985	545	3164	0	0	0	0	0	0	28.83	26.18	28.83
779	-0.48	-184.9	138.6	-15.3	63	784	0.00	1.95	0.00	0.000	6	0.000	0.021	1977	1920	3166	0	0	0	0	0	0	28.83	26.28	28.83
1099	-0.47	-184.9	186.9	-14.2	79	1101	0.12	0.00	0.00	0.000	6	0.145	0.000	2013	1919	3166	0	0	0	0	0	0	26.17	28.83	28.83
1400	-0.47	-184.9	219.4	-9.7	94	1406	0.00	2.00	0.00	0.000	4	0.000	0.028	2013	541	3165	0	0	0	0	0	0	28.83	26.19	28.83
1498	-0.47	-184.9	227.8	-9.6	98	1504	0.00	1.98	0.00	0.000	6	0.000	0.020	2005	1937	3163	0	0	0	0	0	0	28.83	26.30	28.83
1803	-0.47	-184.9	260.8	-10.4	114	1809	0.00	2.00	0.00	0.000	4	0.000	0.033	1994	3309	3164	0	0	0	0	0	0	28.83	26.13	28.83
1856	-0.47	-184.9	265.1	-10.1	116	1861	0.00	1.98	0.00	0.000	6	0.000	0.021	1995	1901	3164	0	0	0	0	0	0	28.83	26.31	28.83
2170	-0.47	-184.9	294.4	-9.7	132	2175	0.00	1.95	0.00	0.000	4	0.000	0.030	1994	557	3163	0	0	0	0	0	0	28.83	26.17	28.83
2404	-0.47	-184.9	318.7	-10.7	143	2410	0.00	1.95	0.00	0.000	6	0.000	0.020	1986	1929	3162	0	0	0	0	0	0	28.83	26.29	28.83
2718	-0.47	-184.9	352.6	-10.4	159	2724	0.00	2.03	0.00	0.000	4	0.000	0.028	1986	556	3161	0	0	0	0	0	0	28.83	26.18	28.83
2792	-0.47	-184.9	359.4	-10.6	162	2798	0.12	1.95	0.00	0.000	6	0.146	0.021	2012	1921	3161	0	0	0	0	0	0	25.95	26.29	28.83
3106	-0.48	-184.9	388.0	-9.0	178	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	2012	1921	3159	0	0	0	0	0	0	28.83	28.83	28.83
3409	-0.49	-184.9	414.8	-8.4	193	3414	0.00	2.03	0.00	0.000	4	0.000	0.028	2012	555	3156	0	0	0	0	0	0	28.83	26.17	28.83
3457	-0.50	-184.9	419.0	-8.6	195	3463	0.00	1.98	0.00	0.000	6	0.000	0.021	2004	1939	3156	0	0	0	0	0	0	28.83	26.28	28.83
3777	-0.51	-184.9	449.3	-9.2	211	3783	0.00	2.05	-0.08	0.000	4	0.000	0.046	1994	3298	3183	0	0	0	0	0	0	28.83	26.06	25.26
3832	-0.53	-184.9	453.6	-9.4	213	3838	0.00	1.95	0.00	0.000	6	0.000	0.021	1994	1923	3182	0	0	0	0	0	0	28.83	26.32	28.83
4147	-0.53	-184.9	484.5	-9.6	229	4152	0.00	2.03	0.00	0.000	4	0.000	0.030	1994	546	3182	0	0	0	0	0	0	28.83	26.14	28.83
4251	-0.53	-184.9	495.0	-10.1	234	4256	0.00	1.98	0.00	0.000	6	0.000	0.021	1986	1924	3182	0	0	0	0	0	0	28.83	26.27	28.83
4452	end dive: TARGET_DEPTH_EXCEEDED
state	4452	begin apogee
4458	-0.17	0.0	514.6	-9.6	244	4617	0.35	0.00	152.05	1.040	6	0.114	0.000	2105	1923	2409	0	0	0	0	0	0	25.72	28.83	23.56
4619	end apogee: CONTROL_FINISHED_OK
state	4619	begin climb
4621	0.58	184.9	522.6	0.0	252	4779	0.68	2.22	149.35	1.013	4	0.086	0.032	2354	528	1655	0	0	0	0	0	0	25.34	25.35	23.70
4855	0.64	285.9	514.2	6.0	263	4944	0.00	1.98	83.03	0.999	6	0.000	0.019	2355	1901	1243	0	0	0	0	0	0	28.83	26.08	23.81
5244	0.72	396.0	489.4	5.7	283	5344	0.10	2.17	92.10	0.997	4	0.112	0.032	2400	3281	794	0	0	0	0	0	0	26.32	25.41	23.81
5435	0.74	403.8	473.4	9.2	292	5450	0.00	2.00	7.70	0.824	6	0.000	0.023	2406	1905	762	0	0	0	0	0	0	28.83	26.08	24.06
5750	0.77	422.0	446.7	8.8	308	5774	0.00	2.12	16.77	0.932	4	0.000	0.034	2416	518	688	0	0	0	0	0	0	28.83	25.90	24.06
5813	0.79	429.5	440.9	9.2	311	5828	0.00	2.00	7.82	0.830	6	0.000	0.019	2415	1910	657	0	0	0	0	0	0	28.83	26.15	24.10
6137	0.81	429.5	407.0	11.3	327	6138	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	1920	655	0	0	0	0	0	0	28.83	28.83	28.83
6439	0.85	461.7	379.0	8.3	342	6471	0.00	0.00	28.67	0.946	6	0.000	0.000	2416	1918	526	0	0	0	0	0	0	28.83	28.83	24.02
6780	0.89	499.1	350.2	8.1	359	6818	0.00	2.15	32.22	0.929	4	0.000	0.031	2416	515	373	0	0	0	0	0	0	28.83	25.69	24.03
6857	0.93	540.9	345.3	8.0	362	6902	0.12	2.00	34.42	0.914	6	0.096	0.019	2469	1902	210	0	0	0	0	0	0	25.89	26.05	23.98
7203	0.94	540.9	304.4	11.4	380	7208	0.00	2.10	0.00	0.000	4	0.000	0.033	2478	511	206	0	0	0	0	0	0	28.83	26.14	28.83
7228	0.95	540.9	301.5	11.2	381	7233	0.00	2.00	0.00	0.000	6	0.000	0.019	2478	1898	206	0	0	0	0	0	0	28.83	26.32	28.83
7551	0.95	540.9	261.4	12.5	397	7552	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1904	205	0	0	0	0	0	0	28.83	28.83	28.83
7854	0.95	540.9	216.5	15.0	412	7859	0.00	2.10	0.00	0.000	4	0.000	0.034	2485	511	205	0	0	0	0	0	0	28.83	26.13	28.83
7918	0.97	540.9	207.5	13.7	415	7924	0.00	1.98	0.00	0.000	6	0.000	0.020	2485	1898	205	0	0	0	0	0	0	28.83	26.32	28.83
8241	0.97	540.9	159.6	14.7	431	8247	0.00	2.05	0.00	0.000	4	0.000	0.031	2485	3282	204	0	0	0	0	0	0	28.83	26.12	28.83
8265	0.97	540.9	156.2	14.5	432	8272	0.00	2.03	0.00	0.000	6	0.000	0.024	2485	1898	204	0	0	0	0	0	0	28.83	26.23	28.83
8590	0.98	540.9	114.3	13.8	448	8595	0.00	2.08	0.00	0.000	4	0.000	0.032	2495	499	204	0	0	0	0	0	0	28.83	26.11	28.83
8663	1.00	540.9	106.2	12.7	451	8668	0.00	2.03	0.00	0.000	6	0.000	0.019	2495	1914	204	0	0	0	0	0	0	28.83	26.32	28.83
8977	1.02	551.7	66.3	9.1	467	8982	0.00	2.12	0.00	0.000	4	0.000	0.031	2495	501	204	0	0	0	0	0	0	28.83	26.11	28.83
9061	1.08	619.3	60.3	7.1	471	9066	0.00	2.03	0.00	0.000	6	0.000	0.018	2495	1920	204	0	0	0	0	0	0	28.83	26.32	28.83
9374	1.14	663.4	33.8	7.9	496	9380	0.00	2.10	0.00	0.000	4	0.000	0.031	2495	504	204	0	0	0	0	0	0	28.83	26.11	28.83
9444	1.20	715.9	28.8	7.6	502	9451	0.15	1.98	0.00	0.000	6	0.084	0.018	2566	1917	205	0	0	0	0	0	0	26.14	26.32	28.83
9666	end climb: SURFACE_DEPTH_REACHED
state	9666	begin surface coast
9682	end surface coast: CONTROL_FINISHED_OK
state	9682	begin surface