Glider dive log

PortSusan 26Feb13 * SG144 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 ESCAPE_HEADING 0 C_ROLL_CLIMB 2026 ALTIM_PING_DELTA 5

MISSION 20 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_FREQUENCY 13

DIVE 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

N_DIVES 0 TGT_DEFAULT_LAT 4808 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_SURF 2 TGT_DEFAULT_LON -12223 R_PORT_OVSHOOT 23 XPDR_VALID 0

D_FLARE 2 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

D_TGT 150 SM_CC 300 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 N_FILEKB 4 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_NO_BLEED 500 FILEMGR 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

T_BOOST 0 COMM_SEQ 0 VBD_MIN 480 MOTHERBOARD 4

D_FINISH 0 PROTOCOL 0 VBD_MAX 3950 DEVICE1 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2930 DEVICE2 -1

D_SAFE 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 3

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_MISSION 75 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 67

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 10 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 W_ADJ_DBAND 1 COMPASS_DEVICE 33

T_NO_W 300 T_GPS_ALMANAC 0 DBDW 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -86631.023 PITCH_W_GAIN 1 PHONE_DEVICE 48

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 1 GPS_DEVICE 32

USE_BATHY 0 STROBE 0 CF8_MAXERRORS 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0

D_OFFGRID 1001 RAFOS_HIT_WINDOW 3600 MINV_24V 12 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MIN 50 MINV_10V 12 SEABIRD_T_G 0.0043491465

RELAUNCH 1 PITCH_MAX 3920 FG_AHR_10V 0 SEABIRD_T_H 0.00063627562

APOGEE_PITCH -5 C_PITCH 3200 FG_AHR_24V 0 SEABIRD_T_I 2.5639563e-05

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 2.8485167e-06

COURSE_BIAS 0 PITCH_CNV 0.0046000001 PRESSURE_YINT -46.800083 SEABIRD_C_G -10.038045

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011159377 SEABIRD_C_H 1.1273739

SPEED_FACTOR 1 PITCH_GAIN 28 AD7714Ch0Gain 128 SEABIRD_C_I -0.0018486013

RHO 1.023 PITCH_TIMEOUT 24 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00022594928

MASS 56256 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 1 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20 TM_RECORDABOVE 2000.0

HD_A 0.0037098001 ROLL_MIN 364 ALTIM_BOTTOM_TURN_MARGIN 10 TM_PROFILE 3.0

HD_B 0.012019 ROLL_MAX 3945 ALTIM_TOP_TURN_MARGIN 0 TM_XMITPROFILE 3.0

HD_C 1.6100001e-05 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1 TM_LOGSAMPLE 0.0

HEADING -1 C_ROLL_DIVE 2026 ALTIM_PING_DEPTH 75 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

AH0_10V 0 D_SAFE 0 PITCH_CNV 0.0046000001 STROBE 0

AH0_24V 350 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 150 PITCH_GAIN 28 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING 0 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MIN 50 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 75 FG_AHR_10V 0 PITCH_TIMEOUT 24 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4808

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_W_DBAND 1 TGT_DEFAULT_LON -12223

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 1 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00011159377 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PRESSURE_YINT -46.800083 TM_RECORDABOVE 2000.0

APOGEE_PITCH -5 HD_A 0.0037098001 PROTOCOL 0 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.012019 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 1.6100001e-05 RAFOS_CORR_THRESH 60 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_DEVICE -1 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_DIVE 60

CAPUPLOAD 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_EPIRB 0

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS 10

COMM_SEQ 0 ID 144 RHO 1.023 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_GPS_CHARGE -86631.023

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 1 ROLL_AD_RATE 400 T_MISSION 75

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_NO_W 300

C_PITCH 3200 LOGGERDEVICE2 67 ROLL_DEG 40 T_RSLEEP 2

C_ROLL_CLIMB 2026 LOGGERDEVICE3 -1 ROLL_MAX 3945 T_TURN 225

C_ROLL_DIVE 2026 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 T_TURN_SAMPINT 5

C_VBD 2930 LOGGERS 3 ROLL_MIN 364 T_WATCHDOG 10

DBDW 1 MASS 56256 ROLL_TIMEOUT 15 UNCOM_BLEED 20

DEEPGLIDER 0 MAX_BUOY 150 R_PORT_OVSHOOT 23 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MINV_10V 12 R_STBD_OVSHOOT 24 USE_BATHY 0

DEVICE1 -1 MINV_24V 12 SC_PROFILE 3.0 USE_ICE 0

DEVICE2 -1 MISSION 20 SC_RECORDABOVE 2000.0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 1 SEABIRD_C_G -10.038045 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 0 SEABIRD_C_H 1.1273739 VBD_MAX 3950

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0018486013 VBD_MAXERRORS 1

DIVE 5 N_FILEKB 4 SEABIRD_C_J 0.00022594928 VBD_MIN 480

D_ABORT 1090 N_GPS 20 SEABIRD_T_G 0.0043491465 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_NOCOMM 1 SEABIRD_T_H 0.00063627562 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5639563e-05 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_T_J 2.8485167e-06 W_ADJ_DBAND 1

D_FLARE 2 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 500 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 1001 PITCH_ADJ_GAIN 0.02 SM_CC 300 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 270213,013935,4744.130,-12223.516,3,1.5,3,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12223.750

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.053,0.217

_SM_DEPTHo 1.29 KALMAN_X 110.6,69.8,22.9,1156.4,19.7

_SM_ANGLEo -76.2 KALMAN_Y -589.7,-289.7,-102.1,-482.9,-142.6

GPS2 270213,014416,4744.146,-12223.610,6,1.4,6,16.3 MHEAD_RNG_PITCHd_Wd 330.1,677,-16.5,-8.333,-20.43,2644

SPEED_LIMITS 0.083,0.224 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.3,1.022579 TM_FREEKB 7868896

SM_CCo 3948,81.43,1.271,0,0,1707,300.00 _24V_AH 13.4,6.567

SM_GC 1.31,9.70,0.00,81.43,0.099,0.000,1.271,49,2019,1707,-14.44,-0.23,300.00,0,0,0,0,0,0,14.57,28.83,13.72 _10V_AH 13.5,0.000

IRIDIUM_FIX 4726.11,-12222.38,270213,010132 FG_AHR_24Vo 0.000

TT8_MAMPS 0.027713,0.027713 FG_AHR_10Vo 0.000

HUMID 34.48 MEM 322684

INTERNAL_PRESSURE 7.79327 DATA_FILE_SIZE 13432,410

TCM_TEMP 18.60 CAP_FILE_SIZE 232214,0

XPDR_PINGS 1 CFSIZE 260165632,253149184

ALTIM_TOP_PING 19.9,20.1 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 130.0,45.2 GPS 270213,025334,4744.395,-12223.856,23,0.8,23,16.3

SC_FREEKB 4018272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 459 167.27 nil 0 0 0.00

Roll_motor 49 118 79.33 nil 0 0 0.00

VBD_pump_during_apogee 225 1430 4327.96 nil 0 0 0.00

VBD_pump_during_surface 81 1271 1387.25 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 3901 1598 83545.13

Iridium_during_xfer 0 0 0.00 TMICL 3901 21 1147.56

Transponder_ping 4 420 22.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 4.67

TT8 1396 19 373.21

LPSleep 1174 2 34.73

TT8_Active 441 19 117.88

TT8_Sampling 833 39 447.94

TT8_CF8 257 45 159.17

TT8_Kalman 32 81 35.58

Analog_circuits 908 12 147.23

GPS_charging 0 0 0.00

Compass 795 15 161.17

RAFOS 0 0 0.00

Transponder 29 30 11.89

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.77 -146.0 37 2010 1617 1782 0.0 0.0 0 76 0.00 0.00 -51.40 0.000 16386 0.000 0.000 37 2009 2934 3006 2863 0 0 0 0 0 0 28.83 28.83 28.83

80 -0.77 -146.1 37 2010 3006 2864 2.1 -2.4 7 120 15.43 2.47 -14.35 0.000 18948 0.460 0.119 3025 616 3528 3642 3415 0 0 0 0 0 0 14.35 14.54 14.76

358 -0.69 -146.1 3025 615 3642 3418 41.2 -13.3 42 367 0.12 2.45 0.00 0.000 3078 0.343 0.077 3044 2030 3530 3642 3418 0 0 0 0 0 0 14.45 14.59 28.83

486 -0.65 -146.1 3044 2031 3641 3418 55.7 -10.1 55 492 0.00 2.53 0.00 0.000 516 0.000 0.099 3044 616 3529 3641 3418 0 0 0 0 0 0 28.83 14.58 28.83

732 -0.65 -146.1 3044 615 3641 3418 82.0 -12.6 78 738 0.00 2.45 0.00 0.000 1030 0.000 0.078 3044 2027 3529 3641 3418 0 0 0 0 0 0 28.83 14.63 28.83

867 -0.65 -146.1 3044 2027 3641 3418 97.3 -10.7 91 873 0.00 2.53 0.00 0.000 516 0.000 0.098 3044 610 3529 3641 3418 0 0 0 0 0 0 28.83 14.62 28.83

1033 -0.65 -146.1 3044 608 3641 3418 115.7 -11.4 106 1039 0.00 2.45 0.00 0.000 1030 0.000 0.078 3044 2025 3529 3641 3418 0 0 0 0 0 0 28.83 14.62 28.83

1169 -0.63 -146.1 3044 2027 3641 3418 131.0 -11.0 119 1175 0.08 2.47 0.00 0.000 2308 0.380 0.086 3057 3444 3529 3641 3418 0 0 0 0 0 0 14.52 14.64 28.83

1281 -0.67 -146.1 3057 3446 3638 3420 143.1 -10.9 129 1287 0.00 2.47 0.00 0.000 1030 0.000 0.089 3057 2029 3529 3638 3420 0 0 0 0 0 0 28.83 14.63 28.83

1353 end dive: TARGET_DEPTH_EXCEEDED

state 1353 begin apogee

1359 -0.18 0.0 3057 2026 3639 3420 150.6 -10.1 136 1475 0.38 0.00 111.70 1.431 10246 0.269 0.000 3157 2026 2930 2967 2893 0 0 0 0 0 0 14.55 28.83 13.52

1480 end apogee: CONTROL_FINISHED_OK

state 1480 begin climb

1483 0.77 146.1 3158 2026 2967 2890 154.9 0.0 145 1605 0.75 2.65 114.07 1.386 10500 0.225 0.078 3367 3447 2333 2337 2329 0 0 0 0 0 0 14.02 13.95 13.42

1640 0.58 146.1 3365 3448 2331 2326 146.5 8.6 161 1649 0.20 2.62 0.00 0.000 5126 0.346 0.093 3329 2026 2327 2331 2323 0 0 0 0 0 0 14.01 14.12 28.83

1768 0.50 146.1 3329 2026 2331 2320 134.3 8.9 174 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2026 2325 2331 2320 0 0 0 0 0 0 28.83 28.83 28.83

1898 0.46 146.1 3328 2026 2334 2319 122.8 8.5 187 1906 0.12 0.00 0.00 0.000 4102 0.321 0.000 3302 2025 2324 2330 2319 0 0 0 0 0 0 14.36 28.83 28.83

2029 0.49 146.1 3305 2025 2331 2318 114.0 6.2 200 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2025 2324 2331 2318 0 0 0 0 0 0 28.83 28.83 28.83

2159 0.52 146.1 3302 2025 2331 2317 105.9 6.3 213 2165 0.00 2.47 0.00 0.000 260 0.000 0.078 3306 3451 2323 2331 2316 0 0 0 0 0 0 28.83 14.55 28.83

2221 0.52 146.2 3302 3452 2330 2316 102.3 6.5 218 2229 0.00 2.53 0.00 0.000 1030 0.000 0.094 3302 2024 2322 2329 2315 0 0 0 0 0 0 28.83 14.57 28.83

2348 0.55 146.2 3302 2025 2329 2315 95.2 5.4 231 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2024 2322 2329 2315 0 0 0 0 0 0 28.83 28.83 28.83

2478 0.58 146.2 3302 2025 2329 2315 87.9 5.3 244 2487 0.10 0.00 0.00 0.000 2054 0.203 0.000 3331 2027 2322 2330 2314 0 0 0 0 0 0 14.62 28.83 28.83

2608 0.54 146.2 3330 2024 2329 2316 78.2 7.9 257 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2024 2322 2329 2315 0 0 0 0 0 0 28.83 28.83 28.83

2738 0.51 146.2 3331 2024 2329 2315 68.3 7.7 270 2744 0.00 2.42 0.00 0.000 260 0.000 0.073 3331 3446 2322 2329 2315 0 0 0 0 0 0 28.83 14.64 28.83

2809 0.43 146.2 3328 3447 2328 2314 62.2 9.5 276 2818 0.17 2.50 0.00 0.000 5126 0.327 0.093 3297 2026 2321 2328 2315 0 0 0 0 0 0 14.53 14.62 28.83

2937 0.49 146.2 3297 2030 2328 2315 54.1 5.7 289 2945 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 2026 2321 2328 2314 0 0 0 0 0 0 28.83 28.83 28.83

3068 0.55 146.3 3297 2025 2328 2314 47.6 4.5 302 3076 0.10 0.00 0.00 0.000 2054 0.201 0.000 3328 2025 2321 2328 2314 0 0 0 0 0 0 14.63 28.83 28.83

3197 0.55 146.3 3328 2025 2329 2314 40.0 6.4 315 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2025 2321 2328 2315 0 0 0 0 0 0 28.83 28.83 28.83

3320 0.55 146.3 3332 2025 2333 2315 34.3 4.8 327 3325 0.00 2.45 0.00 0.000 260 0.000 0.077 3330 3450 2320 2328 2313 0 0 0 0 0 0 28.83 14.61 28.83

3400 0.50 146.4 3327 3451 2327 2314 29.2 6.7 334 3406 0.00 2.53 0.00 0.000 1030 0.000 0.093 3328 2026 2321 2328 2314 0 0 0 0 0 0 28.83 14.61 28.83

3535 0.50 146.4 3327 2026 2328 2314 22.0 5.6 347 3541 0.00 2.53 0.00 0.000 516 0.000 0.106 3327 606 2321 2328 2314 0 0 0 0 0 0 28.83 14.59 28.83

3611 0.59 146.4 3328 606 2327 2315 18.2 3.3 357 3619 0.00 2.45 0.00 0.000 1030 0.000 0.070 3328 2030 2321 2327 2315 0 0 0 0 0 0 28.83 14.59 28.83

3687 0.59 146.5 3328 2031 2327 2314 14.4 4.8 370 3694 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2032 2320 2327 2314 0 0 0 0 0 0 28.83 28.83 28.83

3762 0.59 146.5 2336 2028 2279 2305 10.0 4.6 383 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2031 2319 2323 2315 0 0 0 0 0 0 28.83 28.83 28.83

3837 0.63 146.5 2336 2031 2278 2305 5.5 5.2 396 3846 0.00 2.42 0.00 0.000 260 0.000 0.080 3328 3440 2320 2327 2314 0 0 0 0 0 0 28.83 14.55 28.83

3877 0.63 146.5 3328 3441 2327 2314 3.0 6.2 402 3885 0.00 2.53 0.00 0.000 1030 0.000 0.097 3328 2023 2320 2327 2314 0 0 0 0 0 0 28.83 14.54 28.83

3890 end climb: SURFACE_DEPTH_REACHED

state 3891 begin surface coast

3924 end surface coast: CONTROL_FINISHED_OK

state 3924 begin surface

ID	144	ESCAPE_HEADING	0	C_ROLL_CLIMB	2026	ALTIM_PING_DELTA	5
MISSION	20	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_FREQUENCY	13
DIVE	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
N_DIVES	0	TGT_DEFAULT_LAT	4808	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_SURF	2	TGT_DEFAULT_LON	-12223	R_PORT_OVSHOOT	23	XPDR_VALID	0
D_FLARE	2	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
D_TGT	150	SM_CC	300	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	N_FILEKB	4	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_NO_BLEED	500	FILEMGR	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
T_BOOST	0	COMM_SEQ	0	VBD_MIN	480	MOTHERBOARD	4
D_FINISH	0	PROTOCOL	0	VBD_MAX	3950	DEVICE1	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2930	DEVICE2	-1
D_SAFE	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	3
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_MISSION	75	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	67
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	10	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	W_ADJ_DBAND	1	COMPASS_DEVICE	33
T_NO_W	300	T_GPS_ALMANAC	0	DBDW	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-86631.023	PITCH_W_GAIN	1	PHONE_DEVICE	48
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	1	GPS_DEVICE	32
USE_BATHY	0	STROBE	0	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0
D_OFFGRID	1001	RAFOS_HIT_WINDOW	3600	MINV_24V	12	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MIN	50	MINV_10V	12	SEABIRD_T_G	0.0043491465
RELAUNCH	1	PITCH_MAX	3920	FG_AHR_10V	0	SEABIRD_T_H	0.00063627562
APOGEE_PITCH	-5	C_PITCH	3200	FG_AHR_24V	0	SEABIRD_T_I	2.5639563e-05
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	2.8485167e-06
COURSE_BIAS	0	PITCH_CNV	0.0046000001	PRESSURE_YINT	-46.800083	SEABIRD_C_G	-10.038045
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011159377	SEABIRD_C_H	1.1273739
SPEED_FACTOR	1	PITCH_GAIN	28	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0018486013
RHO	1.023	PITCH_TIMEOUT	24	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00022594928
MASS	56256	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	1	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20	TM_RECORDABOVE	2000.0
HD_A	0.0037098001	ROLL_MIN	364	ALTIM_BOTTOM_TURN_MARGIN	10	TM_PROFILE	3.0
HD_B	0.012019	ROLL_MAX	3945	ALTIM_TOP_TURN_MARGIN	0	TM_XMITPROFILE	3.0
HD_C	1.6100001e-05	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_DIVE	2026	ALTIM_PING_DEPTH	75	TM_XMITRAW	0.0

GPS1	270213,013935,4744.130,-12223.516,3,1.5,3,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12223.750
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.053,0.217
_SM_DEPTHo	1.29	KALMAN_X	110.6,69.8,22.9,1156.4,19.7
_SM_ANGLEo	-76.2	KALMAN_Y	-589.7,-289.7,-102.1,-482.9,-142.6
GPS2	270213,014416,4744.146,-12223.610,6,1.4,6,16.3	MHEAD_RNG_PITCHd_Wd	330.1,677,-16.5,-8.333,-20.43,2644
SPEED_LIMITS	0.083,0.224	D_GRID	150

FINISH	0.3,1.022579	TM_FREEKB	7868896
SM_CCo	3948,81.43,1.271,0,0,1707,300.00	_24V_AH	13.4,6.567
SM_GC	1.31,9.70,0.00,81.43,0.099,0.000,1.271,49,2019,1707,-14.44,-0.23,300.00,0,0,0,0,0,0,14.57,28.83,13.72	_10V_AH	13.5,0.000
IRIDIUM_FIX	4726.11,-12222.38,270213,010132	FG_AHR_24Vo	0.000
TT8_MAMPS	0.027713,0.027713	FG_AHR_10Vo	0.000
HUMID	34.48	MEM	322684
INTERNAL_PRESSURE	7.79327	DATA_FILE_SIZE	13432,410
TCM_TEMP	18.60	CAP_FILE_SIZE	232214,0
XPDR_PINGS	1	CFSIZE	260165632,253149184
ALTIM_TOP_PING	19.9,20.1	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	130.0,45.2	GPS	270213,025334,4744.395,-12223.856,23,0.8,23,16.3
SC_FREEKB	4018272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	459	167.27	nil	0	0	0.00
Roll_motor	49	118	79.33	nil	0	0	0.00
VBD_pump_during_apogee	225	1430	4327.96	nil	0	0	0.00
VBD_pump_during_surface	81	1271	1387.25	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	3901	1598	83545.13
Iridium_during_xfer	0	0	0.00	TMICL	3901	21	1147.56
Transponder_ping	4	420	22.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	4.67
TT8	1396	19	373.21
LPSleep	1174	2	34.73
TT8_Active	441	19	117.88
TT8_Sampling	833	39	447.94
TT8_CF8	257	45	159.17
TT8_Kalman	32	81	35.58
Analog_circuits	908	12	147.23
GPS_charging	0	0	0.00
Compass	795	15	161.17
RAFOS	0	0	0.00
Transponder	29	30	11.89

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.77	-146.0	37	2010	1617	1782	0.0	0.0	0	76	0.00	0.00	-51.40	0.000	16386	0.000	0.000	37	2009	2934	3006	2863	0	0	0	0	0	0	28.83	28.83	28.83
80	-0.77	-146.1	37	2010	3006	2864	2.1	-2.4	7	120	15.43	2.47	-14.35	0.000	18948	0.460	0.119	3025	616	3528	3642	3415	0	0	0	0	0	0	14.35	14.54	14.76
358	-0.69	-146.1	3025	615	3642	3418	41.2	-13.3	42	367	0.12	2.45	0.00	0.000	3078	0.343	0.077	3044	2030	3530	3642	3418	0	0	0	0	0	0	14.45	14.59	28.83
486	-0.65	-146.1	3044	2031	3641	3418	55.7	-10.1	55	492	0.00	2.53	0.00	0.000	516	0.000	0.099	3044	616	3529	3641	3418	0	0	0	0	0	0	28.83	14.58	28.83
732	-0.65	-146.1	3044	615	3641	3418	82.0	-12.6	78	738	0.00	2.45	0.00	0.000	1030	0.000	0.078	3044	2027	3529	3641	3418	0	0	0	0	0	0	28.83	14.63	28.83
867	-0.65	-146.1	3044	2027	3641	3418	97.3	-10.7	91	873	0.00	2.53	0.00	0.000	516	0.000	0.098	3044	610	3529	3641	3418	0	0	0	0	0	0	28.83	14.62	28.83
1033	-0.65	-146.1	3044	608	3641	3418	115.7	-11.4	106	1039	0.00	2.45	0.00	0.000	1030	0.000	0.078	3044	2025	3529	3641	3418	0	0	0	0	0	0	28.83	14.62	28.83
1169	-0.63	-146.1	3044	2027	3641	3418	131.0	-11.0	119	1175	0.08	2.47	0.00	0.000	2308	0.380	0.086	3057	3444	3529	3641	3418	0	0	0	0	0	0	14.52	14.64	28.83
1281	-0.67	-146.1	3057	3446	3638	3420	143.1	-10.9	129	1287	0.00	2.47	0.00	0.000	1030	0.000	0.089	3057	2029	3529	3638	3420	0	0	0	0	0	0	28.83	14.63	28.83
1353	end dive: TARGET_DEPTH_EXCEEDED
state	1353	begin apogee
1359	-0.18	0.0	3057	2026	3639	3420	150.6	-10.1	136	1475	0.38	0.00	111.70	1.431	10246	0.269	0.000	3157	2026	2930	2967	2893	0	0	0	0	0	0	14.55	28.83	13.52
1480	end apogee: CONTROL_FINISHED_OK
state	1480	begin climb
1483	0.77	146.1	3158	2026	2967	2890	154.9	0.0	145	1605	0.75	2.65	114.07	1.386	10500	0.225	0.078	3367	3447	2333	2337	2329	0	0	0	0	0	0	14.02	13.95	13.42
1640	0.58	146.1	3365	3448	2331	2326	146.5	8.6	161	1649	0.20	2.62	0.00	0.000	5126	0.346	0.093	3329	2026	2327	2331	2323	0	0	0	0	0	0	14.01	14.12	28.83
1768	0.50	146.1	3329	2026	2331	2320	134.3	8.9	174	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2026	2325	2331	2320	0	0	0	0	0	0	28.83	28.83	28.83
1898	0.46	146.1	3328	2026	2334	2319	122.8	8.5	187	1906	0.12	0.00	0.00	0.000	4102	0.321	0.000	3302	2025	2324	2330	2319	0	0	0	0	0	0	14.36	28.83	28.83
2029	0.49	146.1	3305	2025	2331	2318	114.0	6.2	200	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2025	2324	2331	2318	0	0	0	0	0	0	28.83	28.83	28.83
2159	0.52	146.1	3302	2025	2331	2317	105.9	6.3	213	2165	0.00	2.47	0.00	0.000	260	0.000	0.078	3306	3451	2323	2331	2316	0	0	0	0	0	0	28.83	14.55	28.83
2221	0.52	146.2	3302	3452	2330	2316	102.3	6.5	218	2229	0.00	2.53	0.00	0.000	1030	0.000	0.094	3302	2024	2322	2329	2315	0	0	0	0	0	0	28.83	14.57	28.83
2348	0.55	146.2	3302	2025	2329	2315	95.2	5.4	231	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2024	2322	2329	2315	0	0	0	0	0	0	28.83	28.83	28.83
2478	0.58	146.2	3302	2025	2329	2315	87.9	5.3	244	2487	0.10	0.00	0.00	0.000	2054	0.203	0.000	3331	2027	2322	2330	2314	0	0	0	0	0	0	14.62	28.83	28.83
2608	0.54	146.2	3330	2024	2329	2316	78.2	7.9	257	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2024	2322	2329	2315	0	0	0	0	0	0	28.83	28.83	28.83
2738	0.51	146.2	3331	2024	2329	2315	68.3	7.7	270	2744	0.00	2.42	0.00	0.000	260	0.000	0.073	3331	3446	2322	2329	2315	0	0	0	0	0	0	28.83	14.64	28.83
2809	0.43	146.2	3328	3447	2328	2314	62.2	9.5	276	2818	0.17	2.50	0.00	0.000	5126	0.327	0.093	3297	2026	2321	2328	2315	0	0	0	0	0	0	14.53	14.62	28.83
2937	0.49	146.2	3297	2030	2328	2315	54.1	5.7	289	2945	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	2026	2321	2328	2314	0	0	0	0	0	0	28.83	28.83	28.83
3068	0.55	146.3	3297	2025	2328	2314	47.6	4.5	302	3076	0.10	0.00	0.00	0.000	2054	0.201	0.000	3328	2025	2321	2328	2314	0	0	0	0	0	0	14.63	28.83	28.83
3197	0.55	146.3	3328	2025	2329	2314	40.0	6.4	315	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2025	2321	2328	2315	0	0	0	0	0	0	28.83	28.83	28.83
3320	0.55	146.3	3332	2025	2333	2315	34.3	4.8	327	3325	0.00	2.45	0.00	0.000	260	0.000	0.077	3330	3450	2320	2328	2313	0	0	0	0	0	0	28.83	14.61	28.83
3400	0.50	146.4	3327	3451	2327	2314	29.2	6.7	334	3406	0.00	2.53	0.00	0.000	1030	0.000	0.093	3328	2026	2321	2328	2314	0	0	0	0	0	0	28.83	14.61	28.83
3535	0.50	146.4	3327	2026	2328	2314	22.0	5.6	347	3541	0.00	2.53	0.00	0.000	516	0.000	0.106	3327	606	2321	2328	2314	0	0	0	0	0	0	28.83	14.59	28.83
3611	0.59	146.4	3328	606	2327	2315	18.2	3.3	357	3619	0.00	2.45	0.00	0.000	1030	0.000	0.070	3328	2030	2321	2327	2315	0	0	0	0	0	0	28.83	14.59	28.83
3687	0.59	146.5	3328	2031	2327	2314	14.4	4.8	370	3694	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2032	2320	2327	2314	0	0	0	0	0	0	28.83	28.83	28.83
3762	0.59	146.5	2336	2028	2279	2305	10.0	4.6	383	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2031	2319	2323	2315	0	0	0	0	0	0	28.83	28.83	28.83
3837	0.63	146.5	2336	2031	2278	2305	5.5	5.2	396	3846	0.00	2.42	0.00	0.000	260	0.000	0.080	3328	3440	2320	2327	2314	0	0	0	0	0	0	28.83	14.55	28.83
3877	0.63	146.5	3328	3441	2327	2314	3.0	6.2	402	3885	0.00	2.53	0.00	0.000	1030	0.000	0.097	3328	2023	2320	2327	2314	0	0	0	0	0	0	28.83	14.54	28.83
3890	end climb: SURFACE_DEPTH_REACHED
state	3891	begin surface coast
3924	end surface coast: CONTROL_FINISHED_OK
state	3924	begin surface