Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 473 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING 300 ROLL_MAX 3764 ALTIM_PING_DEPTH 0

DIVE 473 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2450 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2200 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 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 400 R_PORT_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 4 R_STBD_OVSHOOT 47 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.2 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 310 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 330 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -11 T_GPS_CHARGE -971479.25 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 20.5 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 -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2665 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 0 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 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 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 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 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 1 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 310

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING 300 RAFOS_DEVICE -1 T_GPS 5

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 -971479.25

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 330

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.2 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2665 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -11

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 54 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9 R_STBD_OVSHOOT 47 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 20.5 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 473 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 040213,173206,2400.615,12142.886,44,0.8,44,-3.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2405.963,12132.676

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040213,174010,2400.563,12142.921,5,0.8,5,-3.7 MHEAD_RNG_PITCHd_Wd 303.7,20000,-16.5,-10.645,-19.38

SPEED_LIMITS 0.184,0.303 D_GRID 305

Post-dive calculations and measurements:

FINISH 0.9,0.999905 _10V_AH 9.7,64.183

SM_CCo 6241,0.00,0.000,0,0,950,495.02 FG_AHR_24Vo 0.000

SM_GC 1.77,7.60,2.60,0.00,0.030,0.032,0.000,121,2450,950,-7.86,-1.16,495.02,0,0,0,0,0,0,25.77,25.61,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2352.12,12142.32,040213,151523 MEM 324636

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 13455,339

HUMID 63.34 CAP_FILE_SIZE 106525,0

INTERNAL_PRESSURE 9.37536 CFSIZE 260165632,202477568

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 59 GPS 040213,192606,2400.290,12142.358,42,0.9,42,-3.7

_24V_AH 24.7,102.516

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 214 103.80 nil 0 0 0.00

Roll_motor 92 52 120.57 nil 0 0 0.00

VBD_pump_during_apogee 507 797 9985.82 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 6170 8 1348.43

Iridium_during_xfer 304 113 857.16 nil 0 0 0.00

Transponder_ping 14 420 153.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 26 1.66

TT8 1107 14 158.02

LPSleep 3530 2 74.99

TT8_Active 521 14 74.47

TT8_Sampling 1256 37 462.31

TT8_CF8 319 44 138.32

TT8_Kalman 0 0 0.00

Analog_circuits 1463 16 227.11

GPS_charging 0 0 0.00

Compass 925 8 73.95

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

20 -0.79 -195.5 0.0 0.0 0 83 0.00 0.00 -60.70 0.000 2 0.000 0.000 105 2463 2653 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.79 -195.5 3.5 -4.5 6 128 9.02 2.22 -25.55 0.000 4 0.215 0.045 2407 1045 3764 0 0 0 0 0 0 25.18 25.85 26.63

184 -0.73 -195.5 18.8 -17.4 15 190 0.12 2.12 0.00 0.000 6 0.159 0.035 2429 2437 3768 0 0 0 0 0 0 25.41 25.73 28.83

380 -0.71 -195.5 45.0 -11.5 34 385 0.00 2.08 0.00 0.000 4 0.000 0.048 2425 3759 3769 0 0 0 0 0 0 28.83 25.46 28.83

509 -0.70 -195.5 58.8 -10.9 42 515 0.00 1.88 0.00 0.000 6 0.000 0.020 2424 2456 3769 0 0 0 0 0 0 28.83 26.06 28.83

709 -0.70 -195.5 81.5 -11.4 52 714 0.00 2.10 0.00 0.000 4 0.000 0.040 2424 1061 3770 0 0 0 0 0 0 28.83 25.65 28.83

746 -0.70 -195.5 84.2 -11.3 53 752 0.00 2.20 0.00 0.000 6 0.000 0.036 2424 2496 3770 0 0 0 0 0 0 28.83 25.60 28.83

932 -0.70 -195.5 107.8 -11.7 63 937 0.00 2.15 0.00 0.000 4 0.000 0.033 2424 1067 3769 0 0 0 0 0 0 28.83 25.69 28.83

965 -0.70 -195.5 110.4 -11.5 64 970 0.00 2.20 0.00 0.000 6 0.000 0.036 2424 2493 3770 0 0 0 0 0 0 28.83 25.59 28.83

1159 -0.70 -195.5 133.3 -11.3 74 1164 0.00 1.98 0.00 0.000 4 0.000 0.047 2424 3759 3771 0 0 0 0 0 0 28.83 25.41 28.83

1222 -0.70 -195.5 140.7 -11.5 77 1227 0.00 1.83 0.00 0.000 6 0.000 0.019 2424 2490 3770 0 0 0 0 0 0 28.83 26.10 28.83

1426 -0.70 -195.5 162.9 -10.8 87 1432 0.00 2.12 0.00 0.000 4 0.000 0.033 2424 1068 3768 0 0 0 0 0 0 28.83 25.67 28.83

1493 -0.70 -195.5 169.8 -10.6 90 1499 0.00 2.17 0.00 0.000 6 0.000 0.036 2424 2487 3770 0 0 0 0 0 0 28.83 25.60 28.83

1693 -0.70 -195.5 189.5 -9.8 100 1698 0.00 2.03 0.00 0.000 4 0.000 0.053 2424 3764 3770 0 0 0 0 0 0 28.83 25.23 28.83

1725 -0.70 -195.5 192.0 -10.0 101 1731 0.00 1.88 0.00 0.000 6 0.000 0.019 2424 2474 3770 0 0 0 0 0 0 28.83 25.99 28.83

1922 -0.71 -195.5 212.4 -10.1 111 1928 0.00 2.10 0.00 0.000 4 0.000 0.033 2423 1069 3770 0 0 0 0 0 0 28.83 25.67 28.83

1967 -0.72 -195.5 217.2 -10.2 113 1972 0.00 2.20 0.00 0.000 6 0.000 0.036 2424 2488 3770 0 0 0 0 0 0 28.83 25.58 28.83

2174 -0.73 -195.5 235.6 -8.6 123 2179 0.00 2.00 0.00 0.000 4 0.000 0.047 2424 3761 3770 0 0 0 0 0 0 28.83 25.37 28.83

2218 -0.75 -195.5 240.0 -8.8 125 2223 0.00 1.88 0.00 0.000 6 0.000 0.019 2424 2466 3770 0 0 0 0 0 0 28.83 26.12 28.83

2425 -0.77 -195.5 258.9 -9.7 135 2431 0.00 2.12 0.00 0.000 4 0.000 0.037 2423 1072 3770 0 0 0 0 0 0 28.83 25.58 28.83

2474 -0.78 -195.5 263.7 -10.0 137 2479 0.00 2.20 0.00 0.000 6 0.000 0.036 2424 2481 3766 0 0 0 0 0 0 28.83 25.40 28.83

2675 -0.80 -195.5 283.1 -9.1 147 2681 0.00 2.03 0.00 0.000 4 0.000 0.047 2423 3754 3769 0 0 0 0 0 0 28.83 25.28 28.83

2709 -0.81 -195.5 285.4 -9.1 148 2715 0.00 1.83 0.00 0.000 6 0.000 0.018 2424 2463 3771 0 0 0 0 0 0 28.83 26.15 28.83

2905 -0.83 -195.5 302.9 -8.3 158 2911 0.00 2.05 0.00 0.000 4 0.000 0.032 2424 1086 3767 0 0 0 0 0 0 28.83 25.65 28.83

2926 end dive: TARGET_DEPTH_EXCEEDED

state 2926 begin apogee

2936 -0.27 0.0 305.3 -8.5 159 3095 0.45 0.00 151.80 0.797 4 0.112 0.000 2569 2215 2967 0 0 0 0 0 0 25.15 28.83 24.66

3096 end apogee: CONTROL_FINISHED_OK

state 3096 begin climb

3099 0.79 195.5 315.2 0.0 167 3256 0.98 0.00 150.30 0.735 6 0.080 0.000 2914 2215 2166 0 0 0 0 0 0 25.37 28.83 24.78

3457 0.86 275.2 297.5 7.7 185 3527 0.00 2.17 63.85 0.736 4 0.000 0.044 2914 3601 1837 0 0 0 0 0 0 28.83 25.78 24.82

3564 0.94 342.0 289.3 8.2 190 3625 0.15 2.05 54.55 0.731 6 0.070 0.031 2993 2231 1574 0 0 0 0 0 0 25.91 25.96 24.79

3818 0.91 342.0 258.8 11.9 203 3824 0.12 2.17 0.00 0.000 4 0.139 0.037 2963 799 1554 0 0 0 0 0 0 26.06 25.87 28.83

3846 0.87 342.0 256.0 12.0 204 3852 0.00 2.15 0.00 0.000 6 0.000 0.033 2963 2220 1551 0 0 0 0 0 0 28.83 25.94 28.83

4048 0.86 342.0 233.0 11.2 214 4054 0.00 2.17 0.00 0.000 4 0.000 0.046 2963 3606 1552 0 0 0 0 0 0 28.83 25.67 28.83

4141 0.84 342.0 221.7 13.1 218 4147 0.15 2.05 0.00 0.000 6 0.140 0.025 2933 2231 1550 0 0 0 0 0 0 25.57 25.96 28.83

4339 0.89 362.4 200.4 9.9 228 4362 0.00 2.17 16.98 0.747 4 0.000 0.037 2933 801 1482 0 0 0 0 0 0 28.83 25.96 24.87

4410 0.95 383.2 193.9 9.9 231 4439 0.12 2.17 19.12 0.748 6 0.075 0.031 3003 2234 1392 0 0 0 0 0 0 25.92 25.94 24.83

4621 0.93 383.2 167.9 11.9 242 4626 0.12 2.15 0.00 0.000 4 0.138 0.043 2964 3609 1388 0 0 0 0 0 0 26.06 25.70 28.83

4687 0.91 383.2 160.1 11.9 245 4692 0.00 2.05 0.00 0.000 6 0.000 0.024 2971 2236 1387 0 0 0 0 0 0 28.83 25.98 28.83

4892 0.91 383.2 136.9 11.2 255 4897 0.00 2.20 0.00 0.000 4 0.000 0.038 2981 794 1389 0 0 0 0 0 0 28.83 25.65 28.83

4915 0.91 383.2 134.1 11.3 256 4920 0.00 2.22 0.00 0.000 6 0.000 0.032 2981 2251 1385 0 0 0 0 0 0 28.83 25.79 28.83

5119 0.91 383.2 112.1 10.8 266 5124 0.00 2.12 0.00 0.000 4 0.000 0.044 2981 3606 1384 0 0 0 0 0 0 28.83 25.51 28.83

5197 0.90 383.2 104.5 11.4 269 5204 0.12 2.00 0.00 0.000 6 0.145 0.024 2957 2269 1384 0 0 0 0 0 0 25.58 25.93 28.83

5386 1.02 449.9 87.0 8.2 279 5423 0.12 2.28 26.75 0.309 4 0.077 0.037 3043 802 1136 0 0 0 0 0 0 26.37 25.94 25.16

5506 1.00 449.9 72.1 13.0 285 5517 0.20 2.20 1.50 0.177 6 0.122 0.031 2987 2248 1131 0 0 0 0 0 0 25.41 25.81 25.20

5710 1.01 449.9 48.6 11.8 295 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2249 1140 0 0 0 0 0 0 28.83 28.83 28.83

5892 1.09 484.2 29.6 9.4 313 5913 0.00 2.17 15.95 0.185 4 0.000 0.044 2987 3603 993 0 0 0 0 0 0 28.83 25.88 25.30

5936 1.13 496.4 24.9 10.2 317 5949 0.12 2.03 6.38 0.177 6 0.078 0.024 3061 2243 941 0 0 0 0 0 0 25.86 25.96 25.22

6127 1.13 496.4 3.2 10.9 336 6133 0.12 2.20 0.00 0.000 4 0.133 0.034 3028 796 951 0 0 0 0 0 0 26.10 25.64 28.83

6137 end climb: SURFACE_DEPTH_REACHED

state 6138 begin surface coast

6159 end surface coast: CONTROL_FINISHED_OK

state 6159 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	300	ROLL_MAX	3764	ALTIM_PING_DEPTH	0
DIVE	473	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2450	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2200	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	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	400	R_PORT_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	4	R_STBD_OVSHOOT	47	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.2	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	310	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	330	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-11	T_GPS_CHARGE	-971479.25	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	20.5	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	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2665	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	0	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	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	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	040213,173206,2400.615,12142.886,44,0.8,44,-3.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2405.963,12132.676
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040213,174010,2400.563,12142.921,5,0.8,5,-3.7	MHEAD_RNG_PITCHd_Wd	303.7,20000,-16.5,-10.645,-19.38
SPEED_LIMITS	0.184,0.303	D_GRID	305

FINISH	0.9,0.999905	_10V_AH	9.7,64.183
SM_CCo	6241,0.00,0.000,0,0,950,495.02	FG_AHR_24Vo	0.000
SM_GC	1.77,7.60,2.60,0.00,0.030,0.032,0.000,121,2450,950,-7.86,-1.16,495.02,0,0,0,0,0,0,25.77,25.61,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2352.12,12142.32,040213,151523	MEM	324636
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	13455,339
HUMID	63.34	CAP_FILE_SIZE	106525,0
INTERNAL_PRESSURE	9.37536	CFSIZE	260165632,202477568
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	59	GPS	040213,192606,2400.290,12142.358,42,0.9,42,-3.7
_24V_AH	24.7,102.516

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	214	103.80	nil	0	0	0.00
Roll_motor	92	52	120.57	nil	0	0	0.00
VBD_pump_during_apogee	507	797	9985.82	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	6170	8	1348.43
Iridium_during_xfer	304	113	857.16	nil	0	0	0.00
Transponder_ping	14	420	153.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	26	1.66
TT8	1107	14	158.02
LPSleep	3530	2	74.99
TT8_Active	521	14	74.47
TT8_Sampling	1256	37	462.31
TT8_CF8	319	44	138.32
TT8_Kalman	0	0	0.00
Analog_circuits	1463	16	227.11
GPS_charging	0	0	0.00
Compass	925	8	73.95
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
20	-0.79	-195.5	0.0	0.0	0	83	0.00	0.00	-60.70	0.000	2	0.000	0.000	105	2463	2653	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.79	-195.5	3.5	-4.5	6	128	9.02	2.22	-25.55	0.000	4	0.215	0.045	2407	1045	3764	0	0	0	0	0	0	25.18	25.85	26.63
184	-0.73	-195.5	18.8	-17.4	15	190	0.12	2.12	0.00	0.000	6	0.159	0.035	2429	2437	3768	0	0	0	0	0	0	25.41	25.73	28.83
380	-0.71	-195.5	45.0	-11.5	34	385	0.00	2.08	0.00	0.000	4	0.000	0.048	2425	3759	3769	0	0	0	0	0	0	28.83	25.46	28.83
509	-0.70	-195.5	58.8	-10.9	42	515	0.00	1.88	0.00	0.000	6	0.000	0.020	2424	2456	3769	0	0	0	0	0	0	28.83	26.06	28.83
709	-0.70	-195.5	81.5	-11.4	52	714	0.00	2.10	0.00	0.000	4	0.000	0.040	2424	1061	3770	0	0	0	0	0	0	28.83	25.65	28.83
746	-0.70	-195.5	84.2	-11.3	53	752	0.00	2.20	0.00	0.000	6	0.000	0.036	2424	2496	3770	0	0	0	0	0	0	28.83	25.60	28.83
932	-0.70	-195.5	107.8	-11.7	63	937	0.00	2.15	0.00	0.000	4	0.000	0.033	2424	1067	3769	0	0	0	0	0	0	28.83	25.69	28.83
965	-0.70	-195.5	110.4	-11.5	64	970	0.00	2.20	0.00	0.000	6	0.000	0.036	2424	2493	3770	0	0	0	0	0	0	28.83	25.59	28.83
1159	-0.70	-195.5	133.3	-11.3	74	1164	0.00	1.98	0.00	0.000	4	0.000	0.047	2424	3759	3771	0	0	0	0	0	0	28.83	25.41	28.83
1222	-0.70	-195.5	140.7	-11.5	77	1227	0.00	1.83	0.00	0.000	6	0.000	0.019	2424	2490	3770	0	0	0	0	0	0	28.83	26.10	28.83
1426	-0.70	-195.5	162.9	-10.8	87	1432	0.00	2.12	0.00	0.000	4	0.000	0.033	2424	1068	3768	0	0	0	0	0	0	28.83	25.67	28.83
1493	-0.70	-195.5	169.8	-10.6	90	1499	0.00	2.17	0.00	0.000	6	0.000	0.036	2424	2487	3770	0	0	0	0	0	0	28.83	25.60	28.83
1693	-0.70	-195.5	189.5	-9.8	100	1698	0.00	2.03	0.00	0.000	4	0.000	0.053	2424	3764	3770	0	0	0	0	0	0	28.83	25.23	28.83
1725	-0.70	-195.5	192.0	-10.0	101	1731	0.00	1.88	0.00	0.000	6	0.000	0.019	2424	2474	3770	0	0	0	0	0	0	28.83	25.99	28.83
1922	-0.71	-195.5	212.4	-10.1	111	1928	0.00	2.10	0.00	0.000	4	0.000	0.033	2423	1069	3770	0	0	0	0	0	0	28.83	25.67	28.83
1967	-0.72	-195.5	217.2	-10.2	113	1972	0.00	2.20	0.00	0.000	6	0.000	0.036	2424	2488	3770	0	0	0	0	0	0	28.83	25.58	28.83
2174	-0.73	-195.5	235.6	-8.6	123	2179	0.00	2.00	0.00	0.000	4	0.000	0.047	2424	3761	3770	0	0	0	0	0	0	28.83	25.37	28.83
2218	-0.75	-195.5	240.0	-8.8	125	2223	0.00	1.88	0.00	0.000	6	0.000	0.019	2424	2466	3770	0	0	0	0	0	0	28.83	26.12	28.83
2425	-0.77	-195.5	258.9	-9.7	135	2431	0.00	2.12	0.00	0.000	4	0.000	0.037	2423	1072	3770	0	0	0	0	0	0	28.83	25.58	28.83
2474	-0.78	-195.5	263.7	-10.0	137	2479	0.00	2.20	0.00	0.000	6	0.000	0.036	2424	2481	3766	0	0	0	0	0	0	28.83	25.40	28.83
2675	-0.80	-195.5	283.1	-9.1	147	2681	0.00	2.03	0.00	0.000	4	0.000	0.047	2423	3754	3769	0	0	0	0	0	0	28.83	25.28	28.83
2709	-0.81	-195.5	285.4	-9.1	148	2715	0.00	1.83	0.00	0.000	6	0.000	0.018	2424	2463	3771	0	0	0	0	0	0	28.83	26.15	28.83
2905	-0.83	-195.5	302.9	-8.3	158	2911	0.00	2.05	0.00	0.000	4	0.000	0.032	2424	1086	3767	0	0	0	0	0	0	28.83	25.65	28.83
2926	end dive: TARGET_DEPTH_EXCEEDED
state	2926	begin apogee
2936	-0.27	0.0	305.3	-8.5	159	3095	0.45	0.00	151.80	0.797	4	0.112	0.000	2569	2215	2967	0	0	0	0	0	0	25.15	28.83	24.66
3096	end apogee: CONTROL_FINISHED_OK
state	3096	begin climb
3099	0.79	195.5	315.2	0.0	167	3256	0.98	0.00	150.30	0.735	6	0.080	0.000	2914	2215	2166	0	0	0	0	0	0	25.37	28.83	24.78
3457	0.86	275.2	297.5	7.7	185	3527	0.00	2.17	63.85	0.736	4	0.000	0.044	2914	3601	1837	0	0	0	0	0	0	28.83	25.78	24.82
3564	0.94	342.0	289.3	8.2	190	3625	0.15	2.05	54.55	0.731	6	0.070	0.031	2993	2231	1574	0	0	0	0	0	0	25.91	25.96	24.79
3818	0.91	342.0	258.8	11.9	203	3824	0.12	2.17	0.00	0.000	4	0.139	0.037	2963	799	1554	0	0	0	0	0	0	26.06	25.87	28.83
3846	0.87	342.0	256.0	12.0	204	3852	0.00	2.15	0.00	0.000	6	0.000	0.033	2963	2220	1551	0	0	0	0	0	0	28.83	25.94	28.83
4048	0.86	342.0	233.0	11.2	214	4054	0.00	2.17	0.00	0.000	4	0.000	0.046	2963	3606	1552	0	0	0	0	0	0	28.83	25.67	28.83
4141	0.84	342.0	221.7	13.1	218	4147	0.15	2.05	0.00	0.000	6	0.140	0.025	2933	2231	1550	0	0	0	0	0	0	25.57	25.96	28.83
4339	0.89	362.4	200.4	9.9	228	4362	0.00	2.17	16.98	0.747	4	0.000	0.037	2933	801	1482	0	0	0	0	0	0	28.83	25.96	24.87
4410	0.95	383.2	193.9	9.9	231	4439	0.12	2.17	19.12	0.748	6	0.075	0.031	3003	2234	1392	0	0	0	0	0	0	25.92	25.94	24.83
4621	0.93	383.2	167.9	11.9	242	4626	0.12	2.15	0.00	0.000	4	0.138	0.043	2964	3609	1388	0	0	0	0	0	0	26.06	25.70	28.83
4687	0.91	383.2	160.1	11.9	245	4692	0.00	2.05	0.00	0.000	6	0.000	0.024	2971	2236	1387	0	0	0	0	0	0	28.83	25.98	28.83
4892	0.91	383.2	136.9	11.2	255	4897	0.00	2.20	0.00	0.000	4	0.000	0.038	2981	794	1389	0	0	0	0	0	0	28.83	25.65	28.83
4915	0.91	383.2	134.1	11.3	256	4920	0.00	2.22	0.00	0.000	6	0.000	0.032	2981	2251	1385	0	0	0	0	0	0	28.83	25.79	28.83
5119	0.91	383.2	112.1	10.8	266	5124	0.00	2.12	0.00	0.000	4	0.000	0.044	2981	3606	1384	0	0	0	0	0	0	28.83	25.51	28.83
5197	0.90	383.2	104.5	11.4	269	5204	0.12	2.00	0.00	0.000	6	0.145	0.024	2957	2269	1384	0	0	0	0	0	0	25.58	25.93	28.83
5386	1.02	449.9	87.0	8.2	279	5423	0.12	2.28	26.75	0.309	4	0.077	0.037	3043	802	1136	0	0	0	0	0	0	26.37	25.94	25.16
5506	1.00	449.9	72.1	13.0	285	5517	0.20	2.20	1.50	0.177	6	0.122	0.031	2987	2248	1131	0	0	0	0	0	0	25.41	25.81	25.20
5710	1.01	449.9	48.6	11.8	295	5712	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2249	1140	0	0	0	0	0	0	28.83	28.83	28.83
5892	1.09	484.2	29.6	9.4	313	5913	0.00	2.17	15.95	0.185	4	0.000	0.044	2987	3603	993	0	0	0	0	0	0	28.83	25.88	25.30
5936	1.13	496.4	24.9	10.2	317	5949	0.12	2.03	6.38	0.177	6	0.078	0.024	3061	2243	941	0	0	0	0	0	0	25.86	25.96	25.22
6127	1.13	496.4	3.2	10.9	336	6133	0.12	2.20	0.00	0.000	4	0.133	0.034	3028	796	951	0	0	0	0	0	0	26.10	25.64	28.83
6137	end climb: SURFACE_DEPTH_REACHED
state	6138	begin surface coast
6159	end surface coast: CONTROL_FINISHED_OK
state	6159	begin surface